Introduction to Finite Elements

FEM Discretization of
2D Elasticity

Reading assignment:
Lecture notes
Summary:
FEM Formulation of 2D elasticity (plane stress/strain)
Displacement approximation
Strain and stress approximation
Derivation of element stiffness matrix and nodal load vector
Assembling the global stiffness matrix
Application of boundary conditions
Physical interpretation of the stiffness matrix

Recap: 2D Elasticity

Volume
element dV

Xb dV

py
px

Xa dV
v

Volume (V)
u
ST

Su: Portion of the

boundary on which
displacements are
prescribed (zero or
nonzero)
ST: Portion of the
boundary on which
tractions are prescribed
(zero or nonzero)

x
Su
x

Examples: concept of displacement field

Example
y

2
1

2
4

For the square block shown above, determine u and v for the
following displacements
Case 2: Pure shear
y
y
Case 1: Stretch
1/2

4
2
1
x

Solution
Case 1: Stretch

u=x

y
2
Check that the new coordinates (in the deformed configuration)
x' = x + u = 2x
v=

y
y' = y + v =
2
Case 2: Pure shear
u = y/4
v=0

Check that the new coordinates (in the deformed configuration)

x' = x + u = x + y / 4
y' = y + v = y

Recap: 2D Elasticity
u (x, y)
u=

v
(x,
y)

Strain - Displacement Relation = u

Stress - Strain Law = D = Du

0

x
x

= 0

= y
= y
y

xy
xy
y x
For plane stress
For plane strain
(3 nonzero stress components) (3 nonzero strain components)

1
0

1
0

E
E

1
0
D=

D=
1
0
2
1
1
2
(
)(
)
+

1
2

1
1
0
0

0
0

Displacement field u = u ( x, y )

Strong formulation
+ X = 0 in V
T

Equilibrium equations
Boundary conditions

1. Displacement boundary conditions: Displacements are specified on

portion Su of the boundary
u=u

specified

on S u

2. Traction (force) boundary conditions: Tractions are specified on

portion ST of the boundary
Now, how do I express this mathematically?
But in finite element analysis we DO NOT work with the strong
formulation (why?), instead we use an equivalent Principle of
Minimum Potential Energy

Principle of Minimum Potential Energy (2D)

Definition: For a linear elastic body subjected to body forces
X=[Xa,Xb]T and surface tractions TS=[px,py]T, causing
displacements u=[u,v]T and strains and stresses , the potential
energy is defined as the strain energy minus the potential energy
of the loads (X and TS)
=U-W

Volume
element dV

Xb dV
Xa dV

py
px

Volume (V)
u
ST

x
Su
x
U=

1
T dV

2 V

W = u X dV + u T S dS
T

ST

Strain energy of the elastic body

Using the stress-strain law = D
U=

1
1
T
T
dV = D dV

2 V
2 V

In 2D plane stress/plane strain

U=

1
T dV

V
2
T

x x
1
= y y dV
2 V
xy xy
1
= ( x x + y y + xy xy ) dV
2 V

Principle of minimum potential energy: Among all admissible

displacement fields the one that satisfies the equilibrium equations
also render the potential energy a minimum.
admissible displacement field:
1. first derivative of the displacement components exist
2. satisfies the boundary conditions on Su

Finite element formulation for 2D:

Step 1: Divide the body into finite elements connected to each
other through special points (nodes)
py
v3
3
px
4
3
u3
u 1
v4
2
v
v2
Element e
v
1
1
4
u 2
u
u4
ST
u2

v1
2
v 2
y
d=
x
y
u 3
Su
u1
v 3
1

v
x
x
u 4
u
v
4

Total potential energy

=

1
T dV u T X dV u T T S dS
ST
V
2 V

Potential energy of element e:

1
T
T
T
e = e dV e u X dV e u T S dS
S
V
V
T
2
This term may or may not be present
depending on whether the element is
actually on ST
Total potential energy = sum of potential energies of the elements

= e
e

Step 2: Describe the behavior of each element (i.e., derive the

stiffness matrix of each element and the nodal load vector).
Inside the element e

v3
(x3,y3) 3
v4
v2

Displacement at any point x=(x,y)

u (x, y)
u=

v (x, y)
(x4,y4)
Nodal displacement vector
4
u4
u 1
v1 v
2 u2
v where
(x2,y2)
u
1 u1=u(x1,y1)
y
u 2 v =v(x ,y )
1 1
u1
1
1(x1,y1)
v
etc
2
d=
x
u 3
v 3

u 4
v
4

u3

Recall
Strain - Displacement Relation = u
Stress - Strain Law = D = Du
x

= y

xy

x

= y

xy

x
=0

If we knew u then we could compute the strains and stresses within the
element. But I DO NOT KNOW u!!
Hence we need to approximate u first (using shape functions) and
then obtain the approximations for and (recall the case of a 1D bar)
This is accomplished in the following 3 Tasks in the next slide

TASK 1: APPROXIMATE THE DISPLACEMENTS WITHIN

EACH ELEMENT
Displacement approximation in terms of shape functions

u=Nd
TASK 2: APPROXIMATE THE STRAIN and STRESS WITHIN
EACH ELEMENT
Strain approximation
=Bd
Stress approximation

= DB d

TASK 3: DERIVE THE STIFFNESS MATRIX OF EACH

ELEMENT USING THE PRINCIPLE OF MIN. POT ENERGY
Well see these for a generic element in 2D today and then derive
expressions for specific finite elements in the next few classes

TASK 1: APPROXIMATE THE DISPLACEMENTS

WITHIN EACH ELEMENT
Displacement approximation in terms of shape functions
v3
3
u3
v4
v2 Displacement approximation within element e
4
u4
2 u2
v
1

u (x,y) N1(x,y)u1 + N2(x,y)u2 + N3(x,y)u3 + N4(x,y)u4

y
u1

1
v
u

v (x,y) N1(x,y) v1 + N2(x,y) v2 + N3(x,y) v3 + N4(x,y) v4

u (x,y) N1(x,y)u1 + N2(x,y)u2 + N3(x,y)u3 + N4(x,y)u4

v (x,y) N1(x,y) v1 + N2(x,y) v2 + N3(x,y) v3 + N4(x,y) v4

u (x, y) N 1
u=
=
v (x, y) 0

u=Nd

N2

N3

N4

N1

N2

N3

u 1
v
1
u 2

0 v 2

N 4 u 3
v 3

u 4
v
4

Well derive specific expressions of the shape functions for

different finite elements later

TASK 2: APPROXIMATE THE STRAIN and STRESS WITHIN

EACH ELEMENT

Approximation of the strain in element e

N (x, y)
N 2 (x, y)
N (x, y)
u (x, y) N1(x, y)

u1 +
u2 + 3
u3 + 4
u4
x
x
x
x
x
N (x, y)
N 2 (x, y)
N (x, y)
v (x, y) N1(x, y)

v1 +
v2 + 3
v3 + 4
v4
y =
y
y
y
y
y
N (x, y)
u (x, y) v (x, y) N1(x, y)
+

xy =
u1 + 1
v1 + ......
y
x
y
x

x =

x

= y
xy

u1
v
1
N1(x, y)
N 2 (x, y)
N3(x, y)
N 4 (x, y)
0
0
0
0
u 2

x
x
x

x
N3(x, y)
N1(x, y)
N 2 (x, y)
N 4 (x, y)v 2
0
0
0
= 0

y
y
y
y u 3
N (x, y) N (x, y) N (x, y) N (x, y) N (x, y) N (x, y) N (x, y) N (x, y)
3
3
1
2
2
4
4
v3
1
x
y
x
y
x u
x
y
y








































 4
B
v
4

=Bd

10

Compact approach to derive the B matrix:

Displacement field u = N d
Strain - Displacement Relation = u = ( N )d = Bd
B= N

Stress approximation within the element e

Stress - Strain Law = D

= D B

11

TASK 3: DERIVE THE STIFFNESS MATRIX OF EACH

ELEMENT USING THE PRINCIPLE OF MININUM
POTENTIAL ENERGY
Potential energy of element e:
e =

1
T
T
T
dV e u X dV e u T S dS
ST
V
2 V e

Lets plug in the approximations

u=Nd
e (d )

=Bd

= DB d

1
(DB d )T (B d ) dV V e (N d )T X dV S e (N d )T T S dS
e

V
T
2

Rearranging
1 T
T
T
T
T
T
e (d) d e B D B dV d d e N X dV d e N T S dS

ST

2 V
1 T
T
T
T
T
= d e B D B dV d d e N X dV + e N T S dS
ST
V






2 V









k

1 T
T
d k dd f
2
From the Principle of Minimum Potential Energy

e (d ) =

e (d)
=k d f =0
d

Discrete equilibrium equation for element e

kd= f

12

Element stiffness matrix for element e

k = e B D B dV
T

For a 2D element, the size of the k matrix is

2 x number of nodes of the element

Question: If there are n nodes per element, then what is the size of
the stiffness matrix of that element?
Element nodal load vector
f = e N X dV + e N T S dS
V
ST



 







T

Due to body force

STe

Due to surface traction

If the element is of thickness t

k = e t B D B dA
T

For a 2D element, the size of the k matrix is

2 x number of nodes of the element
dA

Element nodal load vector

dV=tdA
t

f = e t N X dA + e t N T S dl
lT
A






 







T

Due to body force

Due to surface traction

13

The properties of the element stiffness matrix

k = e B D B dV
T

1. The element stiffness matrix is singular and is therefore noninvertible

2. The stiffness matrix is symmetric
3. Sum of any row (or column) of the stiffness matrix is zero!
(why?)

Computation of the terms in the stiffness matrix of 2D elements

v4

v3
4

u4

The B-matrix (strain-displacement) corresponding to this element is

u3
u1

v
y
v1 (x,y)

v2

1 u1

u2

N1 (x,y)

N1 (x,y)

v1

u2

N 2 (x,y)
x

N1 (x,y)
y
N1 (x,y)
x

0
N 2 (x,y)
y

v2
0
N2 (x,y)
y
N2 (x,y)
x

u3
N3 (x,y)
x
0
N3 (x,y)
y

v3
0
N 3 (x,y)
y
N 3 (x,y)
x

u4

v4

N4 (x,y)
x

N 4 (x,y)

N 4 (x,y)

0
N4 (x,y)
y

We will denote the columns of the B-matrix as

B u1

N 1 (x,y)

N 1 (x,y)

=
0
; and so on...
; B v1 =

y
N (x,y)

N 1 (x,y)
y

14

The stiffness matrix corresponding to this element is

k = e B D B dV
T

which has the following form

u1

u2

v1

k 11
k
21
k 31

k
k = 41
k 51

k 61
k
71
k 8 1

v2

u3

v3

u4

v4

k 18
k 28

k 38

k 48
k 58

k 68
k 78

k 8 8

k12

k13

k14

k15

k16

k 17

k 22

k 23

k 24

k 25

k 26

k 27

k 32
k 42

k 33
k 43

k 34
k 44

k 35
k 45

k 36
k 46

k 37
k 47

k 52
k 62

k 53
k 63

k 54
k 64

k 55
k 65

k 56
k 66

k 57
k 67

k 72

k 73

k 74

k 75

k 76

k 77

k 82

k 83

k 84

k 85

k 86

k 87

u1
v1
u2
v2
u3
v3
u4
v4

The individual entries of the stiffness matrix may be computed as follows

k11 = e Bu1 D Bu1 dV; k12 = e Bu1 D Bv1 dV; k13 = e Bu1 D Bu2 dV,...
T

k 21 = e Bv1 D Bu1 dV; k21 = e Bv1 D Bv1 dV;.....

T

Step 3: Assemble the element stiffness matrices into the global

stiffness matrix of the entire structure
For this create a node-element connectivity chart exactly as in 1D
v3
Element #1

v1

v4

1
v2

u1

u3 ELEMENT Node 1 Node 2 Node 3

u4

Element #2

u2

2
v
u

15

Stiffness matrix of element 1

u1 v1 u2 v2 u3 v3

(1 )

Stiffness matrix of element 2

u v u v
2 2 3 3 u4 v4
u1

v1

(2)
u2 k
=

v2

u3

v3

u2
v2
u3
v3
u4
v4

There are 6 degrees of freedom (dof) per element (2 per node)

(1)

Global stiffness matrix

u1 v1 u2 v2 u3 v3 u v4
4

K =

u1
v1
u
2
v2
u3
v3
u4
8v48

( 2)

How do you incorporate boundary conditions?

Exactly as in 1D

16

Finally, solve the system equations taking care of the

displacement boundary conditions.
conditions.

Summary: For each element

Displacement approximation in terms of shape functions

u=Nd
Strain approximation in terms of strain-displacement matrix
=Bd

Stress approximation
= DB d
Element stiffness matrix

k = e B D B dV
T

Element nodal load vector

f = e N X dV + e N T S dS
V
ST



 







T

17