Chapter 6 - Structural finite elements

In this chapter, we discuss the finite elements commonly used in structural analysis.

Table of contents

6.1 3-D elastic continuum element

6.2 Plane stress/plane strain element
6.3 Axial element (review)
6.4 Euler/Bernouilli beam element (without shear)
6.5 Truss element (review)
6.6 Frame element
6.7 Mindlin beam element (with shear)
6.8 Plate and shell elements

6. 1
AE 420 / ME 471
 6.1 3-D linearly elastic element
1) Recall: potential energy of a linearly elastic body
Let u  ux,y,z vx,y,z w x,y,z  displacement vector
   xx  yy  zz  xy  yz  xz  strain vector
with
 xx   u /x   /x 0 0 
     

  
yy v /y   0  /y 0 u 
 zz   w /z   0 0  /z  

       /y  /x v  u

 xy   u /y  v /x   0

w 
 
 yz  v /z  w /y   0  /z  /y
    

 xz   u /z  w /x   /z 0  /x

Let    xx  yy  zz  xy  yz  xz  stress vector
1    0 0 0 
For an isotropic linearly elastic solid :  

  E    1   0 0 0 
    1  0 0 0 
where E  1 2 
E  0 0 0 0 0
 2 
1  1 2   1 2 
 0 0 0 0 0 
  2
E 1 2 
Note :  G  shear modulus  0 0 0 0 0 
21    2 
6. 2
AE 420 / ME 471
 Note : Numerical problems expected when   0.5 (incompressibility limit) - see Chapter 7.
The expression of the potential energy is
1
     E  dV (internal energy)
2V
  u FdV (-work done by body force vector F)
V
  u T dS (-work done by external tractions T  applied on ST )
ST

 D P (-work done by concentrated forces P)

6. 3
AE 420 / ME 471
2) Finite element formulation

6. 4
AE 420 / ME 471
 6. 5
AE 420 / ME 471
 6.2 Plane stress/strain element
Now u  ux,y vx,y  displacement vector
   xx  yy  xy  strain vector
with
 xx   u /x   /x 0 
     u 
   yy   v / y   0  /y  u
  u / y  v /x   /y  /xv 
 xy     
   xx  yy  xy  stress vector
with
  E 
where
 
1  0
E  
E  2
 1 0  for plane stress isotropic
1   1  
0 0
 2 
 
E 1   0 
E    1  0  for plane strain isotropic
1  1 2   0 0
1 2 

 2 
6. 6
AE 420 / ME 471
 
Note : Plane stress :  zz  
1 
 xx   yy   zz  0

Plane strain :  zz    xx   yy   zz  0

1
Potential energy : 
2
  E dS   u FdS   u TdT  D P
 S S T
where
Fx 
F F  body force vector
 y 
Tx 
  T  applied traction vector (along T )
T 
 y 

Derive the finite element formulation for a generic M-node plane stress/plane strain element


6. 7
AE 420 / ME 471
 6.3 Axial element
This element was discussed in Chapter 3. Its finite element formulation is repeated here for
completeness for a generic M node element of length and cross-section A.

1 2 3 … M-1 M x
•
x0 • • • 
• •
x

1
 e    xx xx A dx   pxu dx
 20 0 
where
u  ux  axial displacement
du  d 
 xx   axial strain i.e.,   
dx  dx 
du
 xx  E xx  E  axial stress
dx
px  distributed axial load (in N / m )



6. 8
AE 420 / ME 471
 Let the approximate displacement u˜x be given by
u˜ x  N d
where
d  U1 U 2 U 3 ... U M  nodal displacement vector
N  N1 N2 N 3 ... N M  shape function vector

Then
 du˜ dN
˜   d B d d B
dx dx
˜ = E˜  E B d
Substitute into ˜ e  1  ˜A dx   pu˜ dx to get
˜
20 0

 ˜e 1 d

2
 EAB B dxd d  pN dx
0 0
1
 d kd d r
2
where

k   EAB B dx and r  pN dx

 0 0

6. 9
AE 420 / ME 471
 For a 2-node axial element: For a 3-node axial element:
U1 U2 U1 U2 U3
1 2 x 2 3 x
x 0• •
x
1
x 0• x  /2• •
x
The two " global" shape functions are The three "global" shape functions are
x 2  
N1 x  1 N1 x   2 x  x  
    2 

x 4
N 2 x  N 2 x   2 x   x 

2  
N 3 x   x 
2 
x  
2 
 Then Then
1 1 4x  3 4 2x   4x 
B  B 
 2 2 2

and and
EA 1 1 7 / 3 8 / 3 1/ 3 
k     EA  
1 1  k   8 / 3 16 / 3 8 / 3
1/ 2 
1/ 3 8 / 3 7 / 3 
  o   (for a constant po )
r  p
1/ 2 1/6 
 
r  po 2 / 3 (for a constant po )
1/6 
 

6.10
AE 420 / ME 471
 6.4 Euler-Bernouilli beam element (no shear)
The potential energy for a Euler - Bernouilli beam element of length , stiffness E and moment of
inertia I, subjected to a distributed transverse load qx is given by
 2 2
1 d w
 e   E I   dx   qxw xdx J.N. Reddy, Chapter 4
20 2
dx  0
where w x is the transverse deflection of the neutral axis of the beam.

Since the order of the highest derivative appearing in  e is m  2, our finite element
approximation must have C m1  C1 continuity to achieve convergence.

This implies that we have 2 dof/node :

- The nodal deflection : Wi
dw 
- The nodal rotation :  i  

dx i
For a 2 - node beam element, the approximate deflection field w˜ x is thus given by
w˜ x  N d,
W1 W2
where
1 2 x
d  W1 1 W2  2
N  N1w N1
N 2w N2
•
1 •
2
x0 x
6.11
AE 420 / ME 471
 As always, the shape functions have to be equal to 1 at the corresponding node and dof,
and 0 at the others.
For a 2 - node beam element, the shape functions have thus to be cubic polynomials.
For example, to find N1 x, we have the following conditions :

 dN1  dN1
N1 0  0,  1, N1    0, 0
dx dx
0

We find
N1w x N 2w x

 w 3x 2 2x 3
N1 x  1 2  3

  2x 2 x 3
N1 x  x   2
 2

3 
N w x  3x  2x
 2
 2 3 Slope = 1 N1 x
 x2 x3

N 2 x   
 2

N 2 x

x/ Slope = 1
6.12
AE 420 / ME 471
 Since the approximate deflection is written as
w˜ x  N d d N , W1 W2
1 2 x
the approximate curvature is given by
d 2 w˜ d 2N
•
1 •2
 d B d d B. x0 x
dx 2 dx 2

Substituting into the potential energy of the generic beam element, we get
 
 1 1
 e  d  E I B B dx d d  qN dx  d kd d r,
2 0 0
2
where

k   E I B B dx and r  qN dx

0 0

Using the shape functions derived on the previous page, we get

 12 6 12 6  6 
   
E I 6 4 2 6 2 2  q o  
k  3 and r  
12 6 12 6  12 6 
  
6 2 2 6 4 2   


6.13
AE 420 / ME 471
 Application: GWR method
q

P
P

L, E, I

The GDE for an Euler-Bernouilli beam under axial compressive loading P and transverse
load q is
d4w d 2w
EI 4  P 2  q for 0  x  L ,
dx dx
where L is the length of the beam, I is the moment of inertia of the beam and E is its
stiffness. Assume that the beam is cantilever (fixed displacement and slope) at x=0 and
x=L. Using the Galerkin Weighted Residual M ethod, derive the finite element
 formulation for a 2-node element of length . Explain every step of your analysis.
Sketch the shape functions. What continuity requirement do you have for this problem
and why? What is the expected size of the local stiffness matrix [k] and local load vector
{r}?


6.14
AE 420 / ME 471
 6.5 Truss structure (2-D)
As discussed in Chapter 4, the finite element formulation for a truss element is obtained
by “rotating” the axial element.

u = axial displacement
F = axial load

U, V = displacements in global (x,y) coordinates

Fx, Fy = loads in global coordinates

6.15
AE 420 / ME 471
In the “rotated” (axial) coordinate system :
F 
E A  1 1 ua   
      a  (*)
1 1  
ub 
 
Fb 


But
U a  u a cos  Fxa  Fa cos  U a   cos  0 
V   
 a  sin  0  ua 
Va  u a sin  Fya  Fa sin      
i.e.,  0 cos  
U b  ub 
U b  ub cos  Fxb  Fb cos   Vb   
 0 sin   (2,1)
Vb  ub sin  Fyb  Fb sin  (4,1) (4, 2)
 

U a 


T 

and
V 
ua   cos  sin  0 0   a
    
ub   0 0 cos  sin   U b 
T  Vb 
T 
U a  Fxa 
(*) becomes    
EA  1 1 T Va  T Fyb 
 T     T   
1 1  U b  Fxb 
  F 
Vb   yb 

6.16
AE 420 / ME 471
Multiplying both sides by [T] and noting that [T] [T]T = [I], we get
U a   Fxa 
V   
E A  1 1  a  Fyb 
T  T  
T
 1 1     
(4,2)   (2,4) U b   Fxb 
(2,2)  Vb   Fyb 
(4, 4)

[k] = local stiffness matrix

Find
c 2 cs c 2 cs 
E A  cs s2 cs s 2  c  cos 

k   2 with s  sin 
c cs c2 cs  
2 2
cs s cs s 

6.17
AE 420 / ME 471
 6.6 Frame structure (2-D)
Frame structure is made of beam elements with various orientations.
Frame element = combination of beam and truss (axial) elements.
Each node has 3 dof: x- and y-translation and z-rotation (slope). J.N. Reddy, Section 4.3

5 5 6

D2 2 6
4

4 7
D3 1 3 7
D1
1 9 8

2
3 8
y

6.18
AE 420 / ME 471
 d ’5 d ’2
d’ 4
d ’1

2 1 x’
d ’6 d ’3

For a generic frame element with cross-sectional area A, length L, interia I , and stiffness E
 AE / L 0 0  AE / L 0 0 
 0 12 EI / L3 6 EI / L2 0 12 EI / L3 6 EI / L2 

' e
 0 6 EI / L2 4 EI / L 0 6 EI / L2 2 EI / L 
 k    
  AE / L 0 0 AE / L 0 0 
 0 12 EI / L3 6 EI / L2 0 12 EI / L3 6 EI / L 2 

 
 0 6 EI / L2 2 EI / L 0 6 EI / L2 4 EI / L 
 qt L / 2  U1' 
 q L/2   '
 u  W1 
-q u L2 /12   1 
'

  
e e
 and d   ' 
' '
and r = 
 t q L / 2  U 2 
 qu L / 2  W2' 
   '
 q u L /12    2 
2

   r 
e e e
and  k '  d ' '

6.19
AE 420 / ME 471
 With a different orientation γ ≠ 0
d2 d   T d 
'

d ’2 d ’1 with d  d1 d2 d3 d4 d5 d6
1  cos  sin  0 0 0 0
d1   sin 
 cos  0 0 0 0 
d5 d’3= d3
γ  0 0 1 0 0 0
d’ 5 d ’4    0
T 
0 0 cos  sin  0

y 
d4  0 0 0  sin  cos  0
2  
 0 0 0 0 0 1
x d’ 6= d6
   T r
e e
Similarly r '

   r 
e e e
 k '  d ' '

becomes
 k '  T d   T r
e e e

T   k '  T  d   r with T   T 

1 e e e 1 T

 k  d   r with  k   T  k '  T 

e e e e T e

6.20
AE 420 / ME 471
 Cook textbook
6.7 Mindlin beam element (with shear) Section 13.4, 15.4
1) Theory: comparison between Euler-Bernouilli and Mindlin beam theories
Additional Material

No shear (Euler-Bernouilli) With shear (Mindlin)

z dw/dx u(x,z) z  u(x,z)
Neutral axis Neutral axis
P P
dx O dx O
P dw/dx P dw/dx
w(x) w(x)
t z t z
O x O x

before after before after

Key assumptions: dw
OP remains straight and perpendicular to OP remains straight but  
dx
neutral axis

Displacements: 

ux,z  z dw ux,z  z x 
 dx 
wx,z   wx 
 wx,z  wx 

6.21
AE 420 / ME 471
 6.8 Plate and shell elements
6.9.1 Plates
Additional Material

By plate we mean a flat body whose thickness is much smaller than its other dimensions.
Plates – a 2D extension of 1D transversely loaded beam.
Basic assumptions:
  z   x ,  y , xy
  x   y   xy  0 on the mid-plane z  0.
  x ,  y , xy vary linearly with z.
  yz and  zx vary quadratically with z.
 Displacements and rotations are small.

Define bending moments and shear forces:

t/2 t/2 y
Mx   x z dz , M y    y z dz ,
t / 2 t / 2
t/2 Mydx
M xy    xy z dz
t / 2
t/2 t/2
Mxydx
Qx    zx dz, Qy    yz dz . Qydx
t / 2 t / 2
Mxdy
Note: M's are moments/unit length, Q's are forces/unit length. x Mxydy
Qxdy
6.22
AE 420 / ME 471
   x ,  y , xy are largest at z   t
2
Additional Material

Mx z My z M xy z
x  3
,  y  3
,  xy  3
.
t /12 t /12 t /12
  zx and  yz are largest at z  0.

,  yz  
3 Qx 3 Qy
 zx max  .
2 t max 2 t

Kirchhoff thoery: (for thin plates)

w,x
z,w z z,w u(x,z)
mid-surface Similar
P geometry of
dx O deformation in
P w,x the y-z plane
w(x)
t zz
O x
x,u x,u
before deformation after deformation
A line straight and normal to the mid-surface remains straight and normal to the
mid-surface.
Points on the mid-surface (z = 0) have only w-displacement.
6.23
AE 420 / ME 471
 The points on the mid-surface also have u and v displacements
 x  u , x   zw, xx
u   zw, x , 
   y  v, y   zw, yy
Additional Material

v   zw, y 
 xy  u , y  v, x   2 zw, xy
For an isotropic material:
 
 x   1  0  x 
  E   
 y   2 
 1 0    y .
  1   1    xy 
 xy  0 0 
 2 
Substitute in the expansion of M x , M y , M xy to get
 
 Mx  1  0   w, xx 
    
 M y    D  1 0   w, yy  ,
M   1   2 w, xy 
 xy  0 0 
 2 
Et 3
with D  flexural rigidity = which is "plate equivalent" of bending stiffness EI for a beam.

12 1  2 
We write the above equation as
M    DK  .
The actions in the x- and y-directions are coupled by Poisson ratio  :
e.g. if M x  M xy  0 and M y  0  w, yy  0 and w, xx  0.

6.24
AE 420 / ME 471
 Mindlin theory: (thick and sandwich plates)
Additional Material

A line that is straight and normal to the mid-surface before loading remains
straight but not necessarily normal to the mid-surface after loading, i.e.,
transverse shear deformation is allowed.

Өx
z,w u(x,z)
z z,w
mid-surface
P
dx O
P w,x
w(x)
t zz
O x
x,u x,u
before deformation after deformation

i.e., w, x   x   zx  w, x   x  0
 xy   z  x , y   y , x 
u   z x ,  x   z x , x 
thus    and  yz  w, y   y
v   z y  y   z y , y 
 zx  w, x   x

6.25
AE 420 / ME 471
 Shells:

A shell is a curved surface in space characterized by a midsurface and thickness t

Additional Material

(assumed to be small) with two radii of curvature at each point.

The state of stress at any point in a shell is represented as a superposition of membrane stresses and
flexural or bending stresses. For a thin-walled shell made of linear elastic and homogeneous material,
the membrane stresses are independent of z.
Introduce membrane forces N , which are forces per unit length tangent to the shell surface:
t/2 t/2 t/2
Nx    x dz N y    y dz N xy    xy dz.
t / 2 t / 2 t / 2

Thus, by superposition:
Nx M x z N M z N M z
x   3  y  y  3 y  xy  xy  3 xy .
t t /12 t t /12 t t /12

Most of the loads are membrane type but bending effects are unavoidable
• where concentrated loads are applied,
• where a radius of curvature is changing abruptly,
• if supports apply moments or transverse loads.
Various shell theories (very complicated):
• classical (without shear): for thin shells
• Mindlin (with shear): for thick shells
6.26
AE 420 / ME 471
 6.10 Fracture Element (Example)

6.27
AE 420 / ME 471