Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
Nam Ho Kim
Department of Mechanical & Aerospace Engineering
College of Engineering
University of Florida
P.O. Box 116250
Gainesville, FL 32611
CONTENTS
CONTENTS..................................................................................................................................... I
FIGURE LIST .............................................................................................................................. III
TABLE LIST ................................................................................................................................ VI
CHAP 0.
0.1.
0.2.
0.3.
0.4.
CHAP 1.
1.1.
1.2.
1.3.
1.4.
CHAP 2.
2.1.
2.2.
2.3.
2.4.
2.5.
2.6.
CHAP 3.
3.1.
3.2.
3.3.
3.4.
3.5.
3.6.
CHAP 4.
4.1.
4.2.
4.3.
4.4.
4.5.
4.6.
4.7.
MATHEMATICAL PRELIMINARY.....................................................................1
VECTOR AND MATRIX NOTATIONS ..................................................................................1
VECTOR-MATRIX CALCULUS ...........................................................................................3
MATRIX EQUATION ..........................................................................................................8
EXERCISE .........................................................................................................................9
STRESS-STRAIN ANALYSIS ..............................................................................11
STRESS ...........................................................................................................................11
STRAIN ...........................................................................................................................28
STRESS-STRAIN RELATIONSHIP ......................................................................................32
EXERCISE .......................................................................................................................41
DESIGN CRITERIA...............................................................................................47
PRELIMINARY .................................................................................................................47
DISTORTION ENERGY THEORY (VON MISES, 1913) ........................................................50
THE MAXIMUM SHEAR STRESS CRITERION (TRESCA, 1864) ..........................................52
MAXIMUM PRINCIPAL STRESS THEORY (RANKINE) .......................................................52
SAFETY FACTOR .............................................................................................................53
EXERCISE .......................................................................................................................57
TRUSS FINITE ELEMENT ..................................................................................59
TRUSS ELEMENT IN ONE-DIMENSION .............................................................................59
TRUSS ELEMENT IN TWO-DIMENSION ............................................................................64
TWO-DIMENSIONAL TRUSS ANALYSIS USING I-DEAS ..................................................78
TRUSS ELEMENT IN THREE-DIMENSION .........................................................................80
PROJECT #1 ....................................................................................................................84
EXERCISE .......................................................................................................................85
FINITE ELEMENT ANALYSIS WITH BEAM .................................................89
TOTAL POTENTIAL ENERGY OF BEAM ............................................................................89
FINITE ELEMENT APPROXIMATION .................................................................................91
APPROXIMATION OF THE TOTAL POTENTIAL ENERGY ....................................................95
PRINCIPLE OF MINIMUM TOTAL POTENTIAL ENERGY ....................................................97
CALCULATION OF ELEMENT MOMENTS, SHEAR FORCES, AND STRESSES .......................98
FRAME STRUCTURE ......................................................................................................103
FRAME ANALYSIS USING I-DEAS................................................................................105
4.8.
CHAP 5.
5.1.
5.2.
5.3.
5.4.
5.5.
5.6.
5.7.
CHAP 6.
6.1.
6.2.
6.3.
6.4.
6.5.
6.6.
CHAP 7.
7.1.
7.2.
7.3.
7.4.
7.5.
7.6.
EXERCISE .....................................................................................................................112
FINITE ELEMENT ANALYSIS USING I-DEAS .............................................113
FINITE ELEMENT ANALYSIS PROCEDURE .....................................................................113
PRELIMINARY ANALYSIS ..............................................................................................114
PRE-PROCESSING ..........................................................................................................114
SIMULATION (MODEL SOLUTION) ................................................................................118
POST-PROCESSING ........................................................................................................118
STRESS CONCENTRATION AROUND A HOLE ..................................................................119
PROJECT #2 ..................................................................................................................126
TWO-DIMENSIONAL ELASTICITY ...............................................................127
TYPES OF TWO-DIMENSIONAL PROBLEMS ...................................................................127
PRINCIPLE OF MINIMUM TOTAL POTENTIAL ENERGY ..................................................130
CONSTANT STRAIN TRIANGULAR (CST) ELEMENT ......................................................131
FOUR NODE RECTANGULAR ELEMENT .........................................................................140
FOUR NODE ISO-PARAMETRIC QUADRILATERAL ELEMENT..........................................144
EXERCISE .....................................................................................................................159
INTRODUCTION TO DESIGN OPTIMIZATION ..........................................161
INTRODUCTION .............................................................................................................161
OPTIMALITY CONDITION ..............................................................................................164
CONVEX PROBLEM .......................................................................................................171
NUMERICAL METHOD ..................................................................................................173
PROJECT#3 DESIGN OPTIMIZATION OF BRACKET .........................................................176
EXERCISE .....................................................................................................................180
REFERENCES............................................................................................................................181
INDEX..........................................................................................................................................183
FIGURE LIST
iii
TABLE LIST
Since vector and matrix calculus is repeatedly used during finite element formulation,
it is worth to review it. Although the prerequisite of the class covers elementary calculus
and linear algebra, a brief summary of mathematical formulas is provided for the
convenience of students. Readers who are interested in depth linear algebra are referred
to literature [1] and [2].
(0.1)
which is a N-dimensional vector. By default, in this text all vectors are considered as
column vectors. For the simplicity of notation, a geometric vector in the two- or threedimensional space is denote by a bold typeface without parenthesis, i.e.,
ax
a = a y ,
a
z
or
ax
a=
a y
where ax, ay, and az are components of the vector a in the x-, y-, and z-direction,
respectively. In order to save space, the above column vector a can be written as a = {ax,
ay, az}T in which { }T denotes a transpose of a vector. The above three-dimensional
geometric vector can also be denoted using a unit vector in each coordinate direction. Let
i, j, and k be the unit vectors in x-, y-, and z-direction, respectively, them
a = ax i + a y j + az k
(0.2)
Matrix
A matrix is a collection of vectors and is defined using a bold typeface with bracket.
For example, let a matrix [M] be a collection of K number of column vectors {mi}, i = 1,
, K. Then, the matrix [M] can be denoted by
[M ] = [{m1} {m2 } " {mK }]
where
m1i
i
m
i
{m } = 2 ,
#
mNi
i = 1,", N
By extending each component of vectors {mi}, the matrix [M] can be denoted using NK
components, as
M 11
M
[M ] = 21
#
M N1
M 12
M 22
#
MN2
" M 1K
" M 2K
%
#
" M NK
(0.3)
where M ij = mij is a component of the matrix. In such a case, the dimension of the matrix
[M] is NK. When N = K, it is called a rectangular matrix.
Transpose of a Matrix
The transpose of a matrix can be obtained by switching the rows and columns of the
matrix. For example, the transpose of the matrix [M] in Eq. (0.3) can be calculated by
M 11
M
[M ]T = 12
#
M 1K
M 21
M 22
#
M 2K
" M N1
" MN2
%
#
" M NK
(0.4)
Symmetric Matrix
A matrix is called symmetric when the matrix and its transpose are identical. As is
clears from its definition, only a rectangular matrix can be a symmetric. For example, a
matrix [S] is called symmetric, if
M 11
M
[S] = [S]T = 12
#
M 1N
M 12
M 22
#
M2N
" M 1N
" M 2N
%
#
" M NN
(0.5)
0 0 1
(0.6)
ci = ai + bi , i = 1,", N
d i = ai bi , i = 1,", N
(0.7)
Note that the dimensions of vectors {c} and {d} are the same as that of vectors {a} and
{b}.
If a scalar is multiplied with a vector, then the scalar is multiplied to all of its
components, as
k{a} = {ka1 ka2 " ka N }T
(0.8)
Similar operations can be defined for matrices. Let [A] and [B] are NK dimensional
matrices. Then, the addition and subtraction of these two matrices are defined as
[C] = [ A ] + [B],
[D] = [ A ] [B],
(0.9)
Note that the dimensions of matrices [C] and [D] are the same as that of matrices [A] and
[B].
Although the above addition and subtraction are very similar to that of scalars, the
multiplication and division of vectors and matrices are quite different from that of scalars.
Scalar Product
A scalar product (inner product) is similar to the multiplication of scalars. Since the
scalar products between two vectors will frequently appear in this text, it is necessary to
clearly understand notations. Let a and b are three-dimensional geometric vectors defined
by
ax
bx
a = a y and b = by
az
bz
(0.10)
(0.11)
Norm
A norm represents the magnitude of a vector and is defined using the scalar product.
For example, the norm of a three-dimensional vector a can be defined as
a = aa
(0.12)
Note that the norm is always a non-negative scalar and is a length of the geometric
vector. When a = 1 , the vector a is called the unit vector
Vector Product
Different from the scalar product, the result of the vector product becomes another
vector. In the three-dimensional space, the vector product of two vectors a and b can be
defined as
i
j
a b = a1 a2
b1 b2
k
a3
b3
(0.13)
a2 b3 a3b2
= a3b1 a1b3
a b a b
2 1
1 2
(0.14)
where is the angle between two vectors and n is the unit vector that is perpendicular to
the plane that contains both vectors a and b. The right-hand rule can be used to determine
the positive direction of vector n as shown in Figure 0.1. It is clear from its definitions in
Eqs. (0.13) and (0.14), a a = 0 , and b a = a b .
ab
b
n
Matrix-Vector Multiplication
The matrix-vector multiplication often appears during finite element analysis. Let
[M] be a 33 matrix defined by
mxx
[M ] = mxy
mxz
myx
myy
m yz
mzx
mzy
mzz
c = [M ] a = mxy
mxz
mzy a y = mxy ax + m yy a y + mzy a z
mzz a z mxz a x + m yz a y + mzz a z
m yx
m yy
m yz
(0.15)
ci = M ij a j , i = 1,2,3
j =1
(0.16)
which is a scalar.
Matrix-Matrix Multiplication
The matrix-matrix multiplication is a more general case of Eq. (0.15). For 33
matrices, the matrix-matrix multiplication can be defined as
[C] = [ A ][B]
(0.17)
where [C] is also a 33 matrix. Using the component notation, Eq. (0.17) is equivalent to
3
C IJ = AIK BKJ ,
K =1
I = 1,2,3,
J = 1,2,3
(0.18)
Determinant of a Matrix
Even if the general definition of the determinant is complicated, a simple expression
can be possible if we consider a 22 or a 33 matrix. The determinant of a 22 matrix is
defined as
A =
a11
a21
a12
= a11a22 a12 a21
a22
(0.19)
a12
a13
A = a21 a22
a31 a32
a23
a33
(0.20)
= a11 ( a22 a33 a23a32 ) a12 ( a21a33 a23a31 ) + a13 ( a21a32 a22 a31 )
Example 0.1
The following results can be proved using Eq. (0.19)
a b
=0
0 0
ka kb
a b
=k
c d
c d
a b
c d
b
=
=
c d
a b
d
a b
= 0,
ka kb
a
c
a ka
=0
b kb
a+e b+ f
a b e f
=
+
= ( ad bc ) + ( ed cf )
c
d
c d c d
Inverse of a Matrix
A simple expression can be obtained for the inverse of a matrix when the dimension
is 22.
a12
a
1 a22 a12
[ A ] = 11
=
A a21 a11
a21 a22
1
(0.21)
It can be easily verified that [A][A]1 = [I]. When a matrix is singular ( A = 0 ), then the
inverse of the matrix does not exists.
#
a N 1 x1 + a N 2 x2 + " + a NN x N = bN
(0.22)
Equation (0.22) has an N number of unknowns (x1, x2, , xN) and an N number of
equations. If all equations are independent, then Eq. (0.22) has a unique solution.
Equation (0.22) can be equivalently denoted using the matrix notation, as
[ A ] {x} = {b}
(0.23)
where
a11 a12
a
a22
[ A ] = 21
#
#
aN 1 aN 2
" a1N
x1
b1
b
x
" a2 N
, {x} = 2 , {b} = 2
% #
#
#
" a NN
x N
bN
When the matrix [A] and the vector {b} is known, the solution {x} can be obtained by
multiplying [A]1 at both sides of the equation, as
[ A ]1[ A ] {x} = [ A ]1 {b}
[I] {x} = [ A ]1 {b}
{x} = [ A ]1 {b}
Note that [I] {x} ={x}. Thus, a unique solution can be obtained if [A]1 exists or
equivalently, the matrix [A] is not singular.
0.4. Exercise
0.1
6 5 7
0.2
0.3
6 5 7
3 7 2
[ B] = 2 1 8
7 4 5
0.4
0.5
0.6
Calculate the vector product of a and b in Exercise 0.4 using Eq. (0.13) and
Eq. (0.14), and show that two results are identical.
0.7
Calculate the matrix-vector multiplication [T] a between [T] in Exercise 0.1 and
a in Exercise 0.4. In addition, calculate b[T] a using b in Exercise 0.4.
0.8
0.9
1 3 2
[B] = 1 4 5
2 6 7
0.10
0.11
Solve the following simultaneous system of equations using the matrix method:
4 x1 + 3x2 = 3
x1 + 3x2 = 3