MCEN 4173/5173

Chapter 6

Frames

Fall, 2006

Reading: Chapter 5 1
Frame and Structure

Eiffel Tower

2
2D Frame

2D beam element in bending

12 S 2 12CS 6 LS 12S 2 12CS 6 LS

12C 2 6 LC 12CS 12C 2 6 LC
EI 4 L2 6 LC 2 L2
[K ]
e
= 3
6 LS

L 12S 2 12CS 6 LS
SYMM 12C 2 6 LC

4 L
2

3
2D Frame

4
2D Frame
Beam in axial compression (or uniaxial loading) = 2D truss

f1 x C2 CS C2 CS d1x
f 2 d
1 y EA CS S2 CS S 1y
= C 2
f
2 x L CS C2 CS d 2 x

f2 y CS S2 S d 2 y
2
CS

f1x C 2 CS 0 C2 CS 0 d1x
f
1y S2 0 CS S2 0 d1 y
m1 E 0 0 0 0 1
= A
f2x L C2 CS 0 d 2 x
f2 y SYMM S2 0 d 2 y

m2 0 2

5
2D Frame
2D beam in frame

C 2 CS 0 C2 CS 0

S2 0 CS S2 0
E 0
[K uniaxial ]e = A
0 0 0

L C2 CS 0
SYMM S2 0

0

12 S 2 12CS 6 LS 12 S 2 12CS 6 LS

12C 2 6 LC 12CS 12C 2 6 LC
E I 2 L2
[K bending ]
e
=
4 L2 6 LS 6 LC

2
LL 12 S 2 12CS 6 LS
SYMM 12C 2 6 LC

4 L
2

6
2D Frame
2D beam in frame

[K ]e = [K bending ]e + [K uniaxial ]e

2 2 I I I I I
AC + 12 S CSA 12CS 6S AC 2 12 S 2 CSA + 12CS 6 LS
L2 L2 L L2 L2
I I I I I
AS 2 + 12C 2 2 6C CSA + 12CS 2 AS 2 + 12C 2 2 6C
L L L L L
E
I I
4I 6 LS 2 6 LC 2 2I
= L L
L I I I
CSAC 2 + 12 S 2 2 CSA 12CS 2 6S
L L L
I I
SYMM AS 2 + 12C 2 2 6C
L L
4 I

7
3D Frame

P
A B C D

E H
F G

E H E H
F G F
m : Torque
F

8
Torsion
M
d
A B
max
L

M
AB = max L = Rd
r
L = rd = d
L
r
= G = G d
L 9
Torsion
M Top View

2
[ (rd )dr ]r
R
r M=
0 0

r
= G = G d
L

d 2
[r (rd )dr ]r
R
M =G
M L 0 0

d R 2
M =G J= r d dr =
3
J R4
L 0 0 2
10
Torsion

J is a constant that is determined by the geometry of the

cross-section of the beam.

J can be found in many mechanics of materials books.

Table 5-1 listed Js for some typical cross-section geometry

11
Torsion in FEA

Consider torsion only

m 1x m 2 x
1x x
2x
1 L 2

d
M =G J
L
m 1x GJ 1 1 1x
m 1x = m 2 x =
GJ
L
(
2 x 1x ) =
m 2 x L
1 1
2 x

12
 Beam
Consider shear, bending, and torsion
f2 y d2 y
m 1x f1 y d1 y m 2 x 2 x
1x

m 1z 1z x
m 2 z 2 z
1 L 2

f1 y 12 6 L 12 6 L d1 y
6 L 4 L2 6 L 2 L2 m
m 1z EI 1z 1x GJ 1 1 1x
= 3 = 1 1
f 2 y L 12 6 L 12 6 L d 2 y m 2 x L 2 x
m 2
2z 6L 2L
2
6 L 4 L 2 z

13
Beam
Consider shear, bending, and torsion

12 EI 6 EI 12 EI 6 EI
0 0
L3 L2 L3 L2

f1 y 0 0 d1 y
GJ GJ
0 0
L L
m 1x 4 EI 6 EI 2 EI 1x
m 2 0
L L
= L
6 EI d
1z 1z
12 EI
f2 y 0 2 2 y
m L3 L
2x GJ 2x
m 2 z 0
2z
L
4 EI

L

14
Beam
Beam In 3D Space
Start from Local Coordinate

x
Consider bending in y and z , and torsion in x
Consider shear in y and z , and axial in x

m 2 y ,2 y
Force-Displacement
f2 z , d2 z
f2 x , d2 x
m 2 x ,2 x
Moment-Rotation
m 2 z ,2 z
f2 y , d2 y
15
Beam Beam In 3D Space, Local Coordinate
AE AE
L 0 0 0 0 0 0 0 0 0 0
L
12 EI z 6 EI z 12 EI z 6 EI z
0 0 0 0 0 0 0
L3 L2 L3 L
2

12 EI y 6 EI y 12 EI y 6 EI y
f1x 0 0 0 0 0 0 d1x
L3 L2 L3 L2 d
f1 y GJ GJ
f 0 0 0 0 0 0 0 1y
L L d1z
1z 4 EI y 6 EI y 2 EI y
m 1x 0 0 0 0 1x
L L2 L
m1 y 4 EI z 6 EI 2 EI z 1 y
0 2z 0 0 0
m 1z L 1z

L
= AE
L
d
f2x 0 0 0 0 0 2x
f L d
2y 12 EI z 6 EI z 2 y
f2 z 0 0 0 2 d
L3 L 2z
12 EI y 6 EI y 2 x
m2 x 0 0
m 2 y 2 y
L3 L2

0 2 z
GJ
m 2 z 0

L
4 EI y
0
L
4 EI z
L

{ } [ ] {d}
f = K
e

16
Beam Beam In 3D Space, Local Coordinate

y
Coordinate transformation matrix y
x

x
z z

x y z
f1x cos( x, x ) cos( x,
y ) cos( x,
z ) f1x x

f1 y = cos( y,
x )
f cos( z, x )
cos( y,
y )
f y
cos( y, z ) 1 y

f z
{} f (1) = [T ]{ f }(1)
cos( z,
y ) cos( z,
z )
1x 1x

[T ]
17
Beam Beam In 3D Space, Local Coordinate

f2 x cos( x, x ) cos( x,
y ) cos( x,
z ) f2x

f 2 y = cos( y,
x )
f cos( z, x )
cos( y,
y ) cos( y,

z ) f2 y

f
{}
f (2 ) = [T ]{ f }(2 )
cos( z,
y ) cos( z,
z )
2x 2x

m 1x cos( x, x ) cos( x,
y ) cos( x,
z ) m1x
m
m 1 y = cos( y,
x ) cos( y,
y ) cos( y, z ) 1 y

{m }(1) = [T ]{m}(1)
m cos( z, x ) cos( z,
y ) cos( z,
z ) m
1x 1x

m 2 x cos( x, x ) cos( x,
y ) cos( x,
z ) m2 x

2 y = cos( y,

m x ) cos( y,
y ) cos( y, z ) 2 y {m

m } = [T ]{m}
(2 )
(2 )
m cos( z, x ) cos( z,
y ) cos( z,
z ) m
2x 2x
18
Beam Beam In 3D Space, Local Coordinate

f (1) [T ] 0 0 0 f (1)
(1) (1)
m 0 [T ] 0 0 m
(2 ) =
f 0 0 [T ] 0 f (2 )
m (2 ) 0 0 0
(2 )
[T ] m

d (1) [T ] 0 0 0 d (1)
(1) (1)
0 [T ] 0 0
(2 ) =
d 0 0 [T ] 0 d ( 2 )
(2 ) 0 0 0
(2 )
[T ]

f (1) [T ] 0 f (1) [T ] f (1)

T
T
0 0 0 0 0
(1) (1) (1)
m 0 [T ]T 0 0 m 0 [T ] 0 0 m
(2 ) = (2 ) = (2 )
f 0 0 [T ]T
0 f 0 0 [T ] 0 f

m ( 2 ) 0
0 0 [T ] m 0
T (2 )
0 0 [T ] m (2 )

19
Beam Beam In 3D Space, Local Coordinate

f (1) f (1) d (1) d (1)

(1) (1) (1) (1)
m T m
[ ]
T e
[ ]
(2 ) = [T ] (2 ) = [T ] K (2 ) = [T ] K [T ] (2 )
T e

f f d d
m ( 2 ) m (2 ) (2 ) (2 )

[K ] = [T ] [ ]
e T
K [T ]
e

20
21
Inclined or Skewed Supports
Sometimes, a boundary condition can be more conveniently applied in a
local coordinate.

P y
2 3 x

y In the local coordinate system: d 3 y = 0

In the global coordinate system:

1 d 3 x cos sin d 3 x
=
x d 3 y sin cos d 3 y
d 3 y = d 3 x sin + d 3 y cos = 0
Then, how is such a boundary condition implemented in FEA?
22
Inclined or Skewed Supports
Global stiffness matrix: 2D beam elements

F1x X X X X X X d1x
F X X X X X X d
1y 1y
M1 X X X X X X 1

F2 x X X X X X X X X X d 2 x

F2 y = X X X X X X X X X d 2 y
M X
X 2
2
X X X X X X X

F3 x X X X X X
X d3x

F3 y X X X X X X d 3 y
M 3 X X X X X

X 3

X: non-zero number
23
Inclined or Skewed Supports
Global stiffness matrix: 2D beam elements

F1x X X X X X X d1x
F X X X X X X d
1y 1y
M1 X X X X X X 1

F2 x X X X X X X X X X d 2 x

F2 y = X X X X X X X X X d 2 y
M X
X 2
2
X X X X X X X

F3 x X X X X X
X d3x

F3 y X X X X X X d 3 y
M 3 X X X X X

X 3

F1 [K ]11 [K ]12 d1

F2 = [K ]12 [K ]22 [K ]23 d 2
F
3 [K ]23 [K ]33 d 3
24
Inclined or Skewed Supports

At node 3, coordinate transformation matrix

d 3 x C S d 3 x F3x C S F3 x
d

3y = F3y = S C F3 y
d S C 3 y
1 3 M 1 M 3
3 3

{d 3 } = [T3 ]{d 3 } {F3} = [T3 ]{F3 }

{d 3 } = [T3 ]T {d 3 } {F3 } = [T3 ]T {F3}

25
 Inclined or Skewed Supports
For the global force and displacement matrix, we only transform the
D.O.F. related to node 3.
d1x d1x F1x F1x
d d F F
1y 1y 1y 1y
Global 1 1 M 1 M1


d 2 x [ I ] d 2 x
F2 x [ I ] F2 x
d F

2y = =
d [ I ] 2 y 2y
F [ I ] 2 y
[T3 ] 2 M [T3 ] M 2
2 2
d 3 x d3x F3x F3 x

d
Local 3 y d 3 y F
3y F3 y
3 3 M 3 M 3
1
[I ] = 1 Unit matrix
1
26
Inclined or Skewed Supports

d1 [ I ] d1 F1 [ I ] F1
d F
2 = 2 2 = 2
d [ I ] F [ I ]
d [T3 ] d 3 F F
3
3 [T3 ] 3

T
d1 [ I ] d1 [ I ] d1
d
2
d = [ I ] 2
d = [ I ] 2
d [T3 ] d [T3 ]T d 3
3 3

F1 [ I ] F1
F
2
F = [ I ] 2
F T


3 [T3 ] F3

27
Inclined or Skewed Supports
F1 [ I ] F1
F
2
F = [ I ] 2
F [T3 ] F3
3

F1 [K ]11 [K ]12 d1

F2 = [K ]12 [K ]22 [K ]23 d 2
F
3 [K ]23 [K ]33 d 3

F1 [I ] [K ]11 [K ]12 d1

F2 = [I ] [K ]
12 [K ]22 [K ]23 d 2
F
3 [T3 ] [K ]23 [K ]33 d 3

28
Inclined or Skewed Supports

F1 [I ] [K ]11 [K ]12 d1

F2 = [I ] [K ]
12 [K ]22 [K ]23 d 2
F
3 [T3 ] [K ]23 [K ]33 d 3
d1 [ I ] d1
d
2
d = [ I ] 2
d T

3 [T3 ] 3
d

F1 [I ] [K ]11 [K ]12 [I ] d1
[K ] d
F2 = [I ] 12 [K ]22 [K ]23 [I ] 2
F
3 [T3 ] [K ]23 [K ]33 [T3 ]T d 3

29
Inclined or Skewed Supports

F1 [I ] [K ]11 [K ]12 [I ] d1
[K ] d
F2 = [I ] 12 [K ]22 [K ]23 [I ] 2
F
3 [T3 ] [K ]23 [K ]33 [T3 ]T d 3

F1 [K ]11 [K ]12 d1
T
F2 = [K ]12 [K ]22 [K ]23 [T3 ] d 2
F
3 [T3 ][K ]23 [T3 ][K ]33 [T3 ]T d 3

30
Inclined or Skewed Supports
After obtaining the new global stiffness matrix, we can reduce the
global stiffness matrix by considering boundary conditions under
mixed coordinate systems.

F1x X X X X X X d1x
F X X X X X X d
1y 1y
M1 X X X X X X 1

F2 x X X X X X X X X X d 2 x

F2 y = X X X X X X X X X d 2 y
M X
X 2
2
X X X X X X X

F3x X X X X X X d 3 x

F3 y X X X X X X d 3 y =0
M 3 X X X X X

X 3

31
Inclined or Skewed Supports
The method above is a general way to introduce inclined or skewed
boundary conditions for problems involving symmetry.
Nanoindentation: three-sided pyramidal tips are most often used.

Berkovich tip (included angle, 142.3) Cube corner tip (included angle, 90)

Indentation Impression 32
Inclined or Skewed Supports

Nanoindentation:
1000

900

800
Force

700

Force (uN)
600

500 ing
Time oad
400 L

g
din
300

loa
200

Un
100

0
0 20 40 60 80
Indentation Depth (nm)

Loading: Elastic + Plastic

Unloading: Elastic

33
Inclined or Skewed Supports

Top Views

3D perspective

34
Inclined or Skewed Supports

35