0408-410 Into To Finite Element CH 2 N

Introduction to Finite Element Analysis
UOS
0408-410
Professor: Dr. Hussien Ali Hussien
hhussien@Sharjah.ac.ae
Department of Mechanical Engineering
Office M6-109-A Ph# 06 505 2631
1
0408-410
Office Hours:
Mon. and Wed.@ 10:00 AM to 12:00 PM
Tue. and Thu.@ 1:00 to 2:00 PM
Others times by appointment ONLY (No walk-in please)
No office hours on Sundays
Tentative Lectures Schedule
Week# Topic Readin
g
1) 1/17 Review of Matrix Algebra & solution of simultaneous linear equs. Ch1
2) 1/24 Introduction to the Stiffness (Displacement) Method (Springs) Ch2
3) 1/31 Introduction to the Stiffness (Displacement) Method Ch2
4) 2/7 Uniaxial Bar and Truss Elements Quiz1 Ch3
5) 2/14 Uniaxial Bar and Truss Elements Ch3
6) 2/21 Uniaxial Bar and Truss Elements Ch3
7) 2/28 Finite Element Analysis of Beams and Frames Ch4&C5
8) 3/7 Finite Element Analysis of Beams and Frames, MIDTERM (TBD) Ch4&C5
9) 3/14 Finite Element Analysis of Beams and Frames Ch4&C5
10) 3/21 Plane Stress and Plane Strain Stiffness Equations Ch6
11) 3/28 Spring Break
Plane Stress and Plane Strain Stiffness Equations ,
12) 4/4 Ch6
Quiz2
13) 4/11 Practical Considerations in Modeling, Ch7
14) 4/18 Practical Considerations in Modeling Ch7
15) 4/25 Finite Element Analysis of Heat Transfer Problems, Quiz3 Ch13
16) 5/2 Finite Element Analysis of Fluid flow, Ch14
2
17) 5/16 Final Exam
A First Course in the Finite Element Method, 6 th Edition Logan
Chapter 2
Introduction to the
Stiffness
(Displacement)
Method
3
Learning Objectives
• To define the stiffness matrix
• To derive the stiffness matrix for a spring element
• To demonstrate how to assemble stiffness matrices into a
global stiffness matrix
• To illustrate the concept of direct stiffness method to obtain
the global stiffness matrix and solve a spring assemblage
problem
• To describe and apply the different kinds of boundary
conditions relevant for spring assemblages
• To show how the potential energy approach can be used to
both derive the stiffness matrix for a spring and solve a
spring assemblage problem
4
Definition of the Stiffness Matrix
• For an element, a stiffness matrix [k] is a matrix

such that:
Where [k] relates nodal displacements {d} to

nodal forces {f} of a single element, such as to the
single spring element below
5
Definition of the Stiffness Matrix

• For a structure comprising of a series of elements
such as the three-spring assemblage shown below:
• The stiffness matrix of the whole spring assemblage

[K] relates global-coordinate nodal displacements {d}
to global forces {F} by the relation:
6
Derivation of the Stiffness Matrix

for a Spring Element
• Consider the following linear spring element:
• Points 1 and 2 are reference points called nodes

• f1x and f2x are the local nodal forces on the x-axis
• u1 and u2 are the local nodal displacements
• k is the spring constant or stiffness of the spring
• L is the distance between the nodes
7

• We have selected our element type and now need to define the
deformation relationships
• For the spring subject to tensile forces at each node:

δ = u2 - u 1 & T = k δ
Where δ is the total deformation and T is the tensile force
• Combine to obtain: T = k (u2 - u1 )
8

• Performing a basic force balance yield:
• Combining these force eqs with the previous eqs:
• Express in matrix form:
9

• The stiffness matrix for a linear element is derived as:
• Here [k] is called the local stiffness matrix for the

element.
• Observe that this matrix is symmetric, is square, and
is singular.
• This was the basic process of deriving the stiffness
matrix for any element.
10
Establishing the Global Stiffness

Matrix for a Spring Assemblage
• Consider the two-spring assemblage:
• Node 1 is fixed and axial forces are applied at

nodes 3 and 2.
• The x-axis is the global axis of the assemblage.
11

• For element 1:
• For element 2:
• Elements 1 and 2 must remain connected at common

node 3. The is called the continuity or compatibility
requirement given by:
12

• From the Free-body diagram of the assemblage:
• We can write the equilibrium nodal equations:
13

• Combining the nodal equilibrium equations with the
elemental force/displacement/stiffness relations we obtain
the global relationship:
• Which takes the form: {F} = [K]{d}

• {F} is the global nodal force matrix
• {d} is the global nodal displacement matrix
• [K] is the total or global or system stiffness matrix
14
Direct Stiffness Method

• Reliable method of directly assembling individual
element stiffness matrices to form the total
structure stiffness matrix and the total set of
stiffness equations
• Individual element stiffness matrices are
superimposed to obtain the global stiffness
matrix.
• To superimpose the element matrices, they must
be expanded to the order (size) of the total
structure stiffness matrix.
15
16
A short cut method
17
Example 2.1
2 3 4
{ }[ ]{ } { } [ ]{ } { } [ ]{ }
© 2002 Brooks/Cole Publishing / Thomson Learning™
(2 ) (2 ) ( 3) (3 )
𝑓
(1 )
𝑘1 −𝑘1 𝑢1
( 1)
𝑓 2𝑥 𝑘2 − 𝑘2 𝑢 2 𝑓 3𝑥 𝑘 −𝑘3 𝑢 3
1𝑥
= = (3 )
= 3
𝑓
(1 )
2𝑥
−𝑘1 𝑘1 𝑢(21)
(2 )
𝑓 3𝑥 −𝑘2 𝑘2 𝑢 (23 ) 𝑓 4𝑥 − 𝑘3 𝑘3 𝑢 (34 )
u1 u2 u3 u4
u1
u2
u3
u4
Example 2.3
© 2002 Brooks/Cole Publishing / Thomson Learning™
Compute the global stiffness matrix of the assemblage of springs shown above
19
Boundary Conditions
• We must specify boundary (or support) conditions for

structure models or [K] will be singular.
• This means that the structural system is unstable.
• Without specifying proper kinematic constraints or
support conditions, the structure will be free to move as
a rigid body and not resist any applied loads.
• In general, the number of boundary conditions
necessary is equal to the number of possible rigid body
modes.
20
Boundary Conditions
• Homogeneous boundary conditions
• Most common type
• Occur at locations completely prevented
from moving
• Zero degrees of freedom
• Nonhomogeneous boundary conditions
• Occur where finite nonzero values of
displacements are specified
• Nonzero degree of freedom
• i.e. the settlement of a support
21
Homogenous Boundary
Conditions
• Where is the homogenous boundary condition for
the spring assemblage?
• It is at the location which is fixed, Node 1
• Because Node 1 is fixed u1 = 0
• The system relation can be written as:
22
Imposition of boundary conditions
Consider 2 cases
Case 1: Homogeneous boundary conditions (e.g., d1x=0)
Case 2: Nonhomogeneous boundary conditions (e.g., one of the nodal displacements is
known to be different from zero)
Homogeneous boundary condition at node 1
k1=500N/m k2=100N/m F3x=5N

x
1
2 3
Element 1 Element 2
d1x=0 d2x d3x
23
System equations
0
Nodal
Global Stiffness matrix Nodal
disp load
vector vector
Note that F1x is the wall reaction which is to be computed as part of the solution and
hence is an unknown in the above equation
Writing out the equations explicitly
Eq(1)
Eq(2)
Eq(3) 24
Eq(2) and (3) are used to find d2x and d3x by solving
NOTICE: The matrix in the above equation may be obtained from the global stiffness
matrix by deleting the first row and column
Note use Eq(1) to compute

25
NOTICE:
1. Take care of homogeneous boundary conditions

by deleting the appropriate rows and columns from the global stiffness matrix and
solving the reduced set of equations for the unknown nodal displacements.
2. Both displacements and forces CANNOT be known at the same node. If the
displacement at a node is known, the reaction force at that node is unknown (and vice
versa)
26
Homogenous Boundary
Conditions
• For all homogenous boundary conditions, we can
delete the row and columns corresponding to the
zero-displacement degrees of freedom.
• This makes solving for the unknown
displacements possible.
• Appendix B.4 presents a practical, computer-
assisted scheme for solving systems of
simultaneous equations.
27
Nonhomogeneous Boundary
Conditions
• Consider the case where there is a known
displacement, δ, at Node 1
• Let u1 = δ
28
Conditions
• By considering only the second and third force
equations we can arrive at the equation:
• It can be seen that for nonhomogeneous

boundary conditions we cannot initially delete row
1 and column 1 like was done for homogenous
boundary conditions.
29
Conditions
• In general for nonhomogeneous boundary
conditions, we must transform the terms
associated with the known displacements to the
force matrix before solving for the unknown nodal
displacements.
30
Imposition of boundary conditions…contd.
Nonhomogeneous boundary condition: spring 2 is pulled at node 3 by 0.06 m)
k1=500N/m k2=100N/m
x
1
2 3
Element 1 Element 2
d1x=0 d2x d3x=0.06m
31
System equations
0
0.06
Note that now F1x and F3x are not known.
Writing out the equations explicitly
Eq(1)
Eq(2)
Eq(3)
32
Now use only equation (2) to compute d2x
Now use Eq(1) and (3) to compute F1x =-5N and F3x=5N
33
Physical significance of the stiffness matrix
F1x k1 F2x k2 F3x

x
1 2 3
Element 1 Element 2
d1x d2x d3x
In general, we will have a stiffness matrix

of the form
(assume for now that we do not know k11,

k12, etc)
The finite element force-

displacement relations:
34
The first equation is

Force equilibrium equation
at node 1
Columns of the global stiffness matrix
What if d1=1, d2=0, d3=0 ?

While nodes 2 and 3 are held fixed
Force along node 1 due to unit displacement at node 1

Similarly we obtain the physical significance of the other entries of the global
stiffness matrix 35
In general
= Force at node ‘i’ due to unit displacement at node ‘j’

keeping all the other nodes fixed
This is an alternate route to generating the global stiffness matrix

e.g., to determine the first column of the stiffness matrix
Set d1=1, d2=0, d3=0

F1 k1 F2 k2 F3
x
1 2 3
Element 1 Element 2
d1 d2 d3
Find F1=?, F2=?, F3=?

36
For this special case, Element #2 does not have any contribution.
Look at the free body diagram of Element #1
k1
37
Force equilibrium at node 1

F1
Force equilibrium at node 2

F2
F1 = k1d1 = k1=k11
Of course, F3=0 F2 = -F1 = -k1=k21
F3 = 0 =k31
38
Hence the first column of the stiffness matrix is
To obtain the second column of the stiffness matrix, calculate the nodal reactions at
nodes 1, 2 and 3 when d1=0, d2=1, d3=0
Check that
39
To obtain the third column of the stiffness matrix, calculate the nodal reactions at nodes
1, 2 and 3 when d1=0, d2=0, d3=1
Check that
40
Summarizing some properties of the global stiffness matrix
1. [K] is square, as it relates the same number of forces and displacements.
2. [K] is symmetric, as is each of the element stiffness matrices. If you are

familiar with structural mechanics, you will not find this symmetry property
surprising.
3. [K] is singular (its determinant is equal to zero), and thus, no inverse exists
until sufficient boundary conditions are imposed to remove the singularity
and prevent rigid body motion.
4. The main diagonal terms of [K] are always positive. Otherwise, a positive
nodal force Fi could produce a negative displacement di —a behavior
contrary to the physical behavior of any actual structure.
5. [K] is positive semidefinite (that is {x}T [K]{x} ≥ 0 for all non-zero vector
{x} with real numbers). (For more about positive semidefinite matrices, see
Appendix A.)
41
Minimum Potential Energy

Approach
• Alternative method often used to derive the
element equations and stiffness matrix.
• More adaptable to the determination of element
equations for complicated elements such as:
• Plane stress/strain element
• Axisymmetric stress element
• Plate bending element
• Three-dimensional solid stress element
42
Minimum Potential Energy

Approach
• Principle of minimum potential energy is only

applicable to elastic materials.
• Categorized as a “variational method” of FEM
• Use the potential energy approach to derive the
spring element equations as we did earlier with
the direct method.
43
Total Potential Energy

• Defined as the sum of the internal strain energy,
U, and the potential energy of the external forces,
Ω
• Strain energy is the capacity of internal forces to

do work through deformations in the structure.
• The potential energy of external forces is the
capacity of forces such as body forces, surface
traction forces, or applied nodal forces to do work
through deformation of the structure.
44
Concept of External Work
• A force is applied to a spring and the force-

deformation curve is given.
• The external work is given by the area under the
force-deformation curve where the slope is equal
to the spring constant k
45
External Work and Internal

Strain Energy
• From basic mechanics principles the external
work is expressed as:
• From conservation of mechanical energy principle

external work is expressed as:
• For when the external work is transformed into

the internal strain energy of the spring
46
Total Potential Energy of Spring

• The strain energy can be expressed as:
• The potential energy of the external, being opposite in sign

from the external work expression because the potential
energy of the external force is lost when the work is done
by the external force, is given by:
• Therefore, the total potential energy of a spring is:
47
Potential Energy Approach to

Derive Spring Element Eqs.
• Consider the linear spring subject to nodal forces:
• The total potential energy is:
48

• To minimize the total potential energy the partial
derivatives of πp with respect to each nodal
displacement must be taken:
49

• Simplify to:
• In matrix form:
• The results are identical to the direct method
50
Summary
• Defined the stiffness matrix
• Derived the stiffness matrix for a spring element
• Established the global stiffness matrix for a spring
assemblage
• Discussed boundary conditions (homogenous &
nonhomogeneous)
• Introduced the potential energy approach
• Reviewed minimum potential energy, external work, and
strain energy
• Derived the spring element equations using the potential
energy approach
51

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Introduction to Finite Element Analysis

Definition of the Stiffness Matrix

• For an element, a stiffness matrix [k] is a matrix

Where [k] relates nodal displacements {d} to

Definition of the Stiffness Matrix

• The stiffness matrix of the whole spring assemblage

Derivation of the Stiffness Matrix

• Points 1 and 2 are reference points called nodes

Derivation of the Stiffness Matrix

• For the spring subject to tensile forces at each node:

Derivation of the Stiffness Matrix

• Combining these force eqs with the previous eqs:

• Express in matrix form:

Derivation of the Stiffness Matrix

• Here [k] is called the local stiffness matrix for the

Establishing the Global Stiffness

• Node 1 is fixed and axial forces are applied at

Establishing the Global Stiffness

• Elements 1 and 2 must remain connected at common

Establishing the Global Stiffness

• We can write the equilibrium nodal equations:

Establishing the Global Stiffness

• Which takes the form: {F} = [K]{d}

Direct Stiffness Method

Direct Stiffness Method

Direct Stiffness Method

A short cut method

© 2002 Brooks/Cole Publishing / Thomson Learning™

• We must specify boundary (or support) conditions for

Homogeneous boundary condition at node 1

k1=500N/m k2=100N/m F3x=5N

Note use Eq(1) to compute

1. Take care of homogeneous boundary conditions

• It can be seen that for nonhomogeneous

Writing out the equations explicitly

F1x k1 F2x k2 F3x

In general, we will have a stiffness matrix

(assume for now that we do not know k11,

The finite element force-

The first equation is

Columns of the global stiffness matrix

What if d1=1, d2=0, d3=0 ?

Force along node 1 due to unit displacement at node 1

Force along node 2 due to unit displacement at node 1

= Force at node ‘i’ due to unit displacement at node ‘j’

This is an alternate route to generating the global stiffness matrix

Set d1=1, d2=0, d3=0

Find F1=?, F2=?, F3=?

Force equilibrium at node 1

Force equilibrium at node 2

Of course, F3=0 F2 = -F1 = -k1=k21

Hence the first column of the stiffness matrix is

1. [K] is square, as it relates the same number of forces and displacements.

2. [K] is symmetric, as is each of the element stiffness matrices. If you are

Minimum Potential Energy

Minimum Potential Energy

• Principle of minimum potential energy is only

Total Potential Energy

• Strain energy is the capacity of internal forces to

Concept of External Work

• A force is applied to a spring and the force-

External Work and Internal

• From conservation of mechanical energy principle