Finite Element Method: U. Saravanan

Finite element method
U. Saravanan
Professor
Department of Civil Engineering
IIT Madras
March 2019
U. Saravanan (IIT Madras) Finite element method March 2019 1 / 81

Outline
1 Finite element formulation

Six steps in finite element analysis

Outline

2 Finite element formulation for linearized elasticity

Decomposition of the domain - Selection of element
Derivation of elemental equations
Assembly of element equations
Imposition of the boundary condition
Solution procedure
Post processing of the results
Remarks

Finite element formulation
Solution Procedure
Applied forces Motion / displacement
Strain
Equilibrium displacement
equations relation
Constitutive
Stress Deformation gradient
relation
or strain

Basic equations in mechanics
Strain-displacement relation
1
h = grad(u), = [h + ht ] (1)
2

Strain-displacement relation
1
h = grad(u), = [h + ht ] (1)
2
Constitutive relation - Isotropic Hooke’s law:
σ = λtr ()1 + 2µ = D. (2)

where  
λ + 2µ λ λ 0 0 0
 λ λ + 2µ λ 0 0 0
 
 λ λ λ + 2µ 0 0 0
D=
 , (3)
 0 0 0 2µ 0 0
 0 0 0 0 2µ 0 
0 0 0 0 0 2µ

Equilibrium Equations - Spatial form
div (σ) + ρb = ρa. (4)

Initial-Boundary value problem - Spatial formulation
To find a differentiable displacement field, u so that:


div (σ) + ρb = ρa, 
u(x, t) |t=0 = uo , , on At (5)
Du
Dt |t=0 = vo ,

u = ū, on ∂Aut , (6)

t(n) = σn = t̄, on ∂Aσ
t . (7)
where ∂Aut and ∂Aσ t denote the boundary of the body where displacement
and traction are specified respectively and is such that
∂Aut ∩ ∂Aσ
t = ∅, and ∂Aut ∪ ∂Aσ
t = ∂At (8)

Displacement field
n
X
u = ϕ̃0 (x) + ci (t)ϕ̃i (x) (9)
i=1
where, ϕ̃i ’s are specified a priori and ci ’s are to be determined.

Then, the displacement gradient is:
n
X
h = grad(ϕ0 ) + ci grad(ϕi ) (10)
i=1

Properties of ϕ0
ϕ0 = ϕ̃0 (x)
Is a differentiable function

Properties of ϕ0
ϕ0 = ϕ̃0 (x)
Is a differentiable function
Ensures that the displacement boundary condition is met, i.e.,
ϕ0 (x) = ū, ∀ x ∈ ∂Aut . (11)

Desirable properties of ϕi , i 6= 0
Basis Functions:
ϕi = ϕ̃i (x)

Basis Functions:
ϕi = ϕ̃i (x)
Satisfy homogeneous displacement boundary condition
ϕi (x) = o, ∀ x ∈ ∂Aut , (12)

Basis Functions:
ϕi = ϕ̃i (x)
ϕi (x) = o, ∀ x ∈ ∂Aut , (12)
ϕi ’s to be piecewise differentiable functions

Basis Functions:
ϕi = ϕ̃i (x)
ϕi (x) = o, ∀ x ∈ ∂Aut , (12)

The set {ϕi } to be complete.

Basis Functions:
ϕi = ϕ̃i (x)
ϕi (x) = o, ∀ x ∈ ∂Aut , (12)

The set {ϕi } to be complete.
The set {ϕi } to be linearly independent.

Weakened Equilibrium equation - Spatial form
Let the weight function, φ = φ̃(x), then

Z
[div (σ) + ρb − ρa] · φdv = 0 (13)
At
Recollecting:
Z Z
t
div (A u) = div (A) · u + A · grad(u), and div (u)dv = u · nds
At ∂At
(14)
Z
div (σ t φ) − σ · grad(φ) + ρb · φ − ρa · φ dv = 0

(15)
At

Weakened Equilibrium equation
Hence weakened equilibrium equation in spatial form

Z Z Z
[σ · grad(φ) + ρa · φ] dv = ρb · φdv + t(n) · φds (16)
At At ∂At
Z h i Z Z
φ
σ · + ρa · φ dv = ρb · φdv + t(n) · φds (17)
At At ∂At

Weighted residual methods
How do we find the unknown ci ’s?


Such that the weakened equilibrium equations are satisfied


Galerkin method:
φ = ϕi , for i = {1, . . . , n}


Galerkin method:
φ = ϕi , for i = {1, . . . , n}
Petrov-Galerkin method:
φ = $ i , for i = {1, . . . , n}, $ i 6= υ i


Galerkin method:
φ = ϕi , for i = {1, . . . , n}
φ = $ i , for i = {1, . . . , n}, $ i 6= υ i
Properties of $ i


Galerkin method:
φ = ϕi , for i = {1, . . . , n}
φ = $ i , for i = {1, . . . , n}, $ i 6= υ i
Properties of $ i
Be a piecewise differentiable function


Galerkin method:
φ = ϕi , for i = {1, . . . , n}
φ = $ i , for i = {1, . . . , n}, $ i 6= υ i
Properties of $ i
Be a piecewise differentiable function
Satisfy homogeneous boundary condition

Why these restrictions on the basis and weight functions?
We require ϕ0 to satisfy the prescribed boundary conditions and ϕi i

∈ {1, . . . , n} to satisfy the homogeneous boundary conditions so that
the value of ci ’s are independent of the boundary condition

Why these restrictions on the basis and weight functions?
We require ϕ0 to satisfy the prescribed boundary conditions and ϕi i

∈ {1, . . . , n} to satisfy the homogeneous boundary conditions so that
the value of ci ’s are independent of the boundary condition
The restriction on weight functions is so that the following term can be

computed independent of ci ’s
Z Z Z Z
t(n) · φds = t(n) · φds + t(n) · φds = t̄ · φds, (18)
∂At ∂Aut ∂Aσ
t ∂Aσ
t
by virtue of the required form of the boundary condition and the

requirement on the weight function, φ

Finite element formulation Six steps in finite element analysis


Solution procedure
Remarks

Introduction
What does the finite element method offer?

Introduction

The finite element method provides a systematic way of generating
the basis functions

Introduction

The finite element method provides a systematic way of generating
the basis functions
The finite element analysis of a typical problem involves six steps
which we shall list next

Steps involved in the finite element analysis
Step - 1: Representation of the given domain into a collection of

preselected finite elements


a. Construct the finite element mesh of preselected elements


b. Number the nodes and elements


b. Number the nodes and elements
c. Generate the geometric properties needed for the problem


Step - 2: Derivation of element equations for all typical elements in the
mesh


mesh
a. Consider the weighted residual formulation of the balance of linear
momentum equation over the typical element


mesh
b. Assume that the displacement is of the form,
n
X
u= ui υ i ,
i=1
where υ i are interpolation functions and substitute it into step 2a to

obtain element equation of the form
[Ke ]{ue } = {Fe } (19)


mesh
b. Assume that the displacement is of the form,
n
X
u= ui υ i ,
i=1
where υ i are interpolation functions and substitute it into step 2a to

obtain element equation of the form
[Ke ]{ue } = {Fe } (19)
c. Derive element interpolation functions, υ i and compute the element

matrices.
Step - 3: Assembly of element equations to obtain the equations of the

whole problem


whole problem
a. Identify the inter-element continuity conditions on the displacement
by relating element nodes to global nodes


whole problem
b. Assemble element equations using 3a. and equilibrium equations.


whole problem
Step - 4: Imposition of the boundary conditions of the problem


whole problem

a. Identify the specified global displacement degrees of freedom


whole problem

a. Identify the specified global displacement degrees of freedom
b. Identify the specified traction

Step - 5: Solution of the assembled equations

Step - 6: Postprocessing of the results


a. Compute the gradient of the determined displacement field so that
the stresses can be computed


a. Compute the gradient of the determined displacement field so that
the stresses can be computed
b. Represent the results in a tabular and/or graphical form.

Finite element formulation for linearized elasticity


Solution procedure
Remarks

Finite element formulation for linearized elasticity Decomposition of the domain - Selection of element


Solution procedure
Remarks

Elements

Elements
3
ey
2
4
ez ex
Figure: Tetrahedral solid element

Elements
3
ey
2
4
ez ex

Elements
At the end of this

1 step, the (x, y , z)
coordinates of
the respective
3 nodes as well as
the connectivity
ey matrix containing
2
4 the element
number and the
ez ex nodes that
constitute this
element are
Figure: Tetrahedral solid element assumed to be
available.

Finite element formulation for linearized elasticity Derivation of elemental equations


Solution procedure
Remarks

Degrees of freedom

Degrees of freedom
3
ey
2
4
ez ex

Degrees of freedom
1
 

 u1  
v
 
3 

 1



w
 
1

 

ey
 
{d} = .
..
2
4 



 u4 




v
 
 4 

 

ez ex 
w4

(20)

Interpolation functions
Since there are 12 degrees of freedom, there should be 12 interpolation

functions, υ i , one corresponding to each degree of freedom, so that
12
X
u = uex + v ey + w ez = di υ i (21)
i=1

To maintain the meaning of the degrees of freedom, we choose the

interpolation functions as
υ 1 = N1 (x, y , z)ex , υ 2 = N1 (x, y , z)ey , υ 3 = N1 (x, y , z)ez


To maintain the meaning of the degrees of freedom, we choose the

interpolation functions as

where Ni ’s are the Lagrange interpolation functions and are such that
Ni (xj , yj , zj ) = δij , (22)

where (xj , yj , zj ) are the coordinates of the four node points of the
tetrahedron.

Formulation of linear interpolation function
Assuming, the interpolation function is linear along each edge and on each
plane of the tetrahedron,
Ni = bi + ci x + di y + ei z (23)
where bi , ci , di and ei are constants determined from the condition that
Ni (xj , yj , zj ) = δij , where (xj , yj , zj ) are the coordinates of the four node
points of the tetrahedron.

Assuming, the interpolation function is linear along each edge and on each
plane of the tetrahedron,
Ni = bi + ci x + di y + ei z (23)
where bi , ci , di and ei are constants determined from the condition that
Ni (xj , yj , zj ) = δij , where (xj , yj , zj ) are the coordinates of the four node
points of the tetrahedron.
Then, the requirement: N1 (xj , yj , zj ) = δ1j , can be written as:

    
1 x1 y1 z1 
 b1     1  
 1 x2 y2 z2   c1   0 
 1 x3 y3 z3   d1  =  0  (24)
 
 
   
1 x4 y4 z4 e1 0
 


Solving the above equation we obtain:
   
x2 y2 z2 1 y2 z2
1 1
b1 = det  x3 y3 z3  , c1 = − det  1 y3 z3 
∆ ∆
x4 y4 z4 1 y4 z4
   
1 x2 z2 1 x2 y2
1 1
d1 = det  1 x3 z3  , e1 = − det  1 x3 y3 
∆ ∆
1 x4 z4 1 x4 y4


Solving the above equation we obtain:
   
x2 y2 z2 1 y2 z2
1 1
b1 = det  x3 y3 z3  , c1 = − det  1 y3 z3 
∆ ∆
x4 y4 z4 1 y4 z4
   
1 x2 z2 1 x2 y2
1 1
d1 = det  1 x3 z3  , e1 = − det  1 x3 y3 
∆ ∆
1 x4 z4 1 x4 y4
Where
 
1 x1 y1 z1
 1 x2 y2 z2 
∆ = det 
 1
 (25)
x3 y3 z3 
1 x4 y4 z4
Representation for the displacement field
Hence, the displacement field over the element can be represented in

matrix form as:
 
 u 
u= v = (NFEM ){d} (26)
w
 

Representation for the displacement field
Hence, the displacement field over the element can be represented in

matrix form as:
 
 u 
u= v = (NFEM ){d} (26)
w
 
Where
 
N1 0 0 N2 0 0 N3 0 0 N4 0 0
(NFEM ) =  0 N1 0 0 N2 0 0 N3 0 0 N4 0 
0 0 N1 0 0 N2 0 0 N3 0 0 N4
(27)

Infinitesimal strain tensor
A representation of the infinitesimal strain tensor

  ∂u
 
 ()xx  
 ∂x 


 () 
  
 ∂v 


 yy 
  ∂y 

∂w
  
 
()zz
  
= = ∂z (28)
∂u ∂v

 2() xy 
 
 ∂y + ∂x 

2()yz   ∂v ∂w
   
 ∂z + ∂y

   


 
  
2()xz

∂w ∂u
∂x + ∂z
 

Infinitesimal strain tensor
A representation of the infinitesimal strain tensor

  ∂u
 
 ()xx  
 ∂x 


 () 
  
 ∂v 


 yy 
  ∂y 

∂w
  
 
()zz
  
= = ∂z (28)
∂u ∂v

 2() xy 
 
 ∂y + ∂x 

2()yz   ∂v ∂w
   
 ∂z + ∂y

   


 
  
2()xz

∂w ∂u
∂x + ∂z
 
The strain in the element can be written as

{} = (BFEM ){d} (29)

Definition of (BFEM )
(BFEM ) =
 
N1,x 0 0 N2,x 0 0 N3,x 0 0 N4,x 0 0
 0 N 1,y 0 0 N2,y 0 0 N3,y 0 0 N4,y 0 
 
 0 0 N1,z 0 0 N2,z 0 0 N3,z 0 0 N4,z 
 
 N1,y N1,x 0 N2,y N2,x 0 N3,y N3,x 0 N4,y N4,x 0 
 
 0 N1,z N1,y 0 N2,z N2,y 0 N3,z N3,y 0 N4,z N4,y 
N1,z 0 N1,x N2,z 0 N2,x N3,z 0 N3,x N4,z 0 N4,x
(30)

Solution Procedure
Strain
equations relation
Constitutive
relation
or strain

Evaluation of Cauchy stress tensor
Constitutive relation: Hooke’s Law

σ = D


σ = D
A representation for Cauchy stress tensor

 

 σxx 




 σyy 



σzz
 
{σ} = (31)

 σxy 

σ
 
 yz

 

 
σxz



σ = D
A representation for Cauchy stress tensor

 

 σxx 




 σyy 



σzz
 
{σ} = (31)

 σxy 

σ
 
 yz

 

 
σxz

Now, the Hooke’s law can be written as

{σ} = (DFEM ){} (32)

For isotropic materials

 
1−ν ν ν 0 0 0

 ν 1−ν ν 0 0 0 

E  ν ν 1−ν 0 0 0 
(DFEM ) =  
(1 + ν)(1 − 2ν) 
 0 0 0 1 − 2ν 0 0 

 0 0 0 0 1 − 2ν 0 
0 0 0 0 0 1 − 2ν
(33)

For isotropic materials

 
1−ν ν ν 0 0 0

 ν 1−ν ν 0 0 0 

E  ν ν 1−ν 0 0 0 
(DFEM ) =  
(1 + ν)(1 − 2ν) 
 0 0 0 1 − 2ν 0 0 

 0 0 0 0 1 − 2ν 0 
0 0 0 0 0 1 − 2ν
(33)
Substituting for the strain in the constitutive relation we obtain
{σ} = (DFEM )(BFEM ){d} (34)

Solution Procedure
Strain
equations relation
Constitutive
relation
or strain

Formulation of elemental equations
Weakened equilibrium equation

Z h i Z Z
φ
At At ∂At


Z h i Z Z
φ
At At ∂At
Defining
1
υi = grad(υ i ) + grad t (υ i )

(36)
2


Z h i Z Z
φ
At At ∂At
Defining
1
υi = grad(υ i ) + grad t (υ i )

(36)
2
Identifying the weight function, φ with υ i

Z Z Z
[σ · υi + ρa · υ i ] dv = ρb · υ i dv + t(n) · υ i ds (37)
At At ∂At
for i ∈ {1, 2, . . . , 12}

Computation of acceleration
Acceleration:
∂2u
, a= (38)
∂t 2
When the developed displacement gradient, spatial velocities and its
gradient are very small

Assuming small deformations
4
" # " 4 # " 4 #
∂2u X d 2 ui X d 2 vi X d 2 wi
a≈ 2 = Ni 2 ex + Ni 2 e y + Ni ez
∂t dt dt dt 2
i=1 i=1 i=1
= (NFEM ){d̈} (39)

Assuming small deformations
4
" # " 4 # " 4 #
∂2u X d 2 ui X d 2 vi X d 2 wi
a≈ 2 = Ni 2 ex + Ni 2 e y + Ni ez
∂t dt dt dt 2
i=1 i=1 i=1
= (NFEM ){d̈} (39)
Where
d 2 u1
 
dt 2

 

d 2 v1

 

 

 dt 2 

{d̈} = .. (40)
.
d 2 v4

 

 
dt 2

 

d 2 w4

 

dt 2

Notation and Identities
Defining
{di } as a vector with only the i th element of the array in d i being 1 and
all the other elements are 0

Notation and Identities
Defining
{di } as a vector with only the i th element of the array in d i being 1 and
all the other elements are 0
Then
υi = (NFEM ){di } (41)

υi i
= (BFEM ){d } (42)

Substituting the expressions we obtained for the Cauchy stress and

acceleration in the weakened spatial form of the equilibrium equations and
using the above identities we obtain
Z h i
(DFEM )(BFEM ){d} · (BFEM ){di } + ρ(NFEM ){d̈} · (NFEM ){di } dv
At
Z Z
i
= ρb · (NFEM ){d }dv + t(n) · (NFEM ){di }ds
At ∂At
where the integration is performed over the volume or the surface of the
tetrahedron under investigation respectively


Z h i
At
Z Z
i
At ∂At
The above equation holds for di , i ∈ {1, 2, . . . , 12}


Z h i
At
Z Z
i
At ∂At
The above equation holds for di , i ∈ {1, 2, . . . , 12}

Hence, it is equivalent to requiring that this hold for an arbitrary
vector da (Why?)
Elemental equation
The above equation can be written as
(Ke ){d} + (Me ){d̈} = {fbe } + {fse } (43)

Elemental equation
The above equation can be written as
(Ke ){d} + (Me ){d̈} = {fbe } + {fse } (43)
Where
Z
e
(K ) = (BFEM )t (DFEM )(BFEM )dv , Element stiffness matrix
ZAt
(Me ) = ρ(NFEM )t (NFEM )dv , Element mass matrix
At
Z
{fbe } = ρ(NFEM )t bdv , Element body force vector
At
Z
{fse } = (NFEM )t t(n) da, Element surface traction vector
∂At

Points to be understood
While the stiffness, mass matrices and body force vector could be
computed, surface traction could not be computed at this stage

However, if part or the entire boundary of the element under
consideration happened to coincide with the boundary of the body
where the traction is prescribed, then this term can be computed

However, if part or the entire boundary of the element under
consideration happened to coincide with the boundary of the body
where the traction is prescribed, then this term can be computed
But to maintain generality, the surface traction vector is assumed to
be unknown and hence at this stage there are 2n unknowns - n
displacement degrees of freedom and n components of the surface
traction vector, where n is 12 for the tetrahedral element under
consideration

Finite element formulation for linearized elasticity Assembly of element equations


Solution procedure
Remarks

Introduction
While deriving the element equations, we isolated a typical element

(say, the k th ) from the mesh and developed its finite element model

Introduction

To solve the full problem, we must sum the contributions from each
of the elements that make up the domain of the problem

Introduction

Why sum?

Introduction

Why sum?
Because
N
X
u= Ui ν i (44)
i=1

Introduction

Why sum?
Because
Integration is additive
N
X
u= Ui ν i (44)
i=1

Concepts used in assembling the equations
The assembly of the finite element equations is based on:


1. Continuity of the displacement field - Related to the single valued
nature of the displacement


2. Balance of the surface force field - Refers to the requirement that t(n)
+ t(−n) = o


2. Balance of the surface force field - Refers to the requirement that t(n)
+ t(−n) = o
Imposing the continuity of the displacement field at the nodes

common to the elements amounts to the correspondence between the
local and global nodal values

Illustrative mesh

Illustrative mesh
1 1 1
1 3
II
II 3 5
I 3 I 3
5 4
ey 2 2
2 4
4 4
ez ex
(a) (b)

Illustrative mesh
1 1 1
1 3
II
II 3 5
I 3 I 3
5 4
ey 2 2
2 4
4 4
ez ex
(a) (b)

Illustrative mesh
Global degrees of
freedom
1 1 1
1 3  
II
5 U1 
II 3

I 3
 
I 3 V
4
 
5 
 1


ey 2  
2 W
 
2 1
4

 

4 4  
{UFEM } = .
..
ez ex  
U5 

 

 

(a) (b)  V5 

 
 

W5
 
(45)

Establishing the relationship between global and local

degrees of freedom
For the finite element mesh being studied the relation between the local
and global degrees of freedom is:
u11 = U1 , v11 = V1 , w11 = W1 , u21 = U2 , v21 = V2 , w21 = W2

u31 = U3 , v31 = V3 , w31 = W3 , u41 = U4 , v41 = V4 , w41 = W4
u12 = U1 , v12 = V1 , w12 = W1 , u22 = U4 , v22 = V4 , w22 = W4
u32 = U3 , v32 = V3 , w32 = W3 , u42 = U5 , v42 = V5 , w42 = W5

Establishing the relationship between global and local

degrees of freedom
For the finite element mesh being studied the relation between the local
and global degrees of freedom is:
u11 = U1 , v11 = V1 , w11 = W1 , u21 = U2 , v21 = V2 , w21 = W2

u31 = U3 , v31 = V3 , w31 = W3 , u41 = U4 , v41 = V4 , w41 = W4
u12 = U1 , v12 = V1 , w12 = W1 , u22 = U4 , v22 = V4 , w22 = W4
u32 = U3 , v32 = V3 , w32 = W3 , u42 = U5 , v42 = V5 , w42 = W5
This transformation from the local degrees of freedom to the global is

accomplished by a boolean transformation matrix, TFEM , so that
{d} = (TFEM ){UFEM }. (46)

Illustrative transformation matrix, (TFEM )
For the element 1

 
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0

 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 


 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 


 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 


 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 

0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
 
1
(TFEM ) =   , (47)
 
 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 
0 0 0 0 0 0 0 1 0 0 0 0 0 0 0
 
 

0 0 0 0 0 0 0 0 1 0 0 0 0 0 0

 
 
 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 
 
 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0

An important identity
Z
0 = (DFEM )(BFEM )(TeFEM ){UFEM } · (BFEM )(TeFEM ){UiFEM }dv
At
Z
+ ρ(NFEM )(TeFEM ){ÜFEM } · (NFEM )(TeFEM ){UiFEM }dv
ZAt
− ρb · (NFEM )(TeFEM ){UiFEM }dv
ZAt
− t(n) · (NFEM )(TeFEM ){UiFEM }ds
∂At
where {UiFEM } is such that the equation
di = (TeFEM ){UiFEM }
holds.
Global matrices and force vector
The global stiffness and mass matrix are obtained from
k
X k
X
(K) = (TeFEM )t (Ke )(TeFEM ), (M) = (TeFEM )t (Me )(TeFEM ),
e=1 e=1
(48)

Global matrices and force vector
The global stiffness and mass matrix are obtained from
k
X k
X
(K) = (TeFEM )t (Ke )(TeFEM ), (M) = (TeFEM )t (Me )(TeFEM ),
e=1 e=1
(48)
The global force vector is obtained from

k
X
{FFEM } = (TeFEM )t [{fbe } + {fse }], (49)
e=1

Points to understand
1. (TeFEM ) could be obtained from the connectivity matrix


2. Even though the above formulation provides an algorithm for adding
the different element matrices and vectors, it is computationally
expensive


expensive
3. In practice, the global matrices are directly updated without
assembling the element matrices.


expensive
3. In practice, the global matrices are directly updated without
assembling the element matrices.
4. The continuity of the displacement at the inter element nodes
guarantees the continuity of the displacement along the entire inter
element boundary

Balance of surface forces

1 1 1
1 3
II
II 3 5
I 3 I 3
5 4
ey 2 2
2 4
4 4
ez ex
(a) (b)

1 1 1
1 3
II
II 3 5
I 3 I 3
5 4
ey 2 2
2 4
4 4
ez ex
(a) (b)

1 1 1 We require
1 3
II
I 3 5
I 3 II 3
4
5
(t1(n) )(1,3,4) = −(t2(n) )(1,3,2) , (50)
ey 2 2
2 4
4 4 where the subscript (1, 3, 4) (or (1, 3, 2))
ez ex denotes the local node numbers that
form the vertices of the surface being
(a) (b)
considered

1 1 1 We require
1 3
II
I 3 5
I 3 II 3
4
5
(t1(n) )(1,3,4) = −(t2(n) )(1,3,2) , (50)
ey 2 2
2 4
4 4 where the subscript (1, 3, 4) (or (1, 3, 2))
ez ex denotes the local node numbers that
form the vertices of the surface being
(a) (b)
considered
In the finite element method, we impose the above relation in a weighted-integral

sense:
Z Z
(t1(n) ) · υ 1i ds + (t2(n) ) · υ 2j ds = 0, (51)
∂A1134 ∂A2132
for (i, j) ∈ {(1, 1), (2, 2), (3, 3), (7, 7), (8, 8), (9, 9), (10, 4), (11, 5), (12, 6)}, where
the choice of i and j correspond to the basis functions associated with each
common node in elements 1 and 2

Why balance of surface forces?
Required from the physics of the problem - But what then is the
equilibrium equation?

Required to reduce the number of unknowns in surface force vector

Required to reduce the number of unknowns in surface force vector
Required to enforce the traction boundary condition

Alternate notation
Let the surface with vertices 1 − 2 − 3 be called surface 1, vertices

1 − 2 − 4 surface 2, vertices 1 − 3 − 4 surface 3 and vertices 2 − 3 − 4
surface 4 and then let
Z
FiJe = (te(n) ) · υ ei ds (52)
surfaceJ

Alternate notation

Z
surfaceJ

Alternate notation

Z
surfaceJ
1 1 1
1 3
II
II 3 5
I 3 I 3
5 4
ey 2 2
2 4
4 4
ez ex
(a) (b)

Alternate notation

Z
surfaceJ
1 1 1
1 3
II
II 3 5
I 3 I 3
5 4
ey 2 2
2 4
4 4
ez ex
(a) (b)

Alternate notation

Z
surfaceJ
Now previous equation can be

1 1 1
1
II
3 written succinctly as
II 3 5
I 3 I 3
5 4 1 2
ey
2 2
4
2 Fi3 + Fj1 =0 (53)
4 4
ez ex for (i, j) ∈
(a) (b)
{(1, 1), (2, 2), (3, 3), (7, 7), (8, 8),
(9, 9), (10, 4), (11, 5), (12, 6)}

For the tetrahedron element being studied

Z Z
{fs1 }1 = (t1(n1 ) )x N1 ds + (t1(n2 ) )x N1 ds
surface1Z surface2Z
+ (t1(n3 ) )x N1 ds + (t1(n4 ) )x N1 ds, (54)

surface3 surface4
where ni denotes the outward normal to the i th surface

For the tetrahedron element being studied

Z Z
{fs1 }1 = (t1(n1 ) )x N1 ds + (t1(n2 ) )x N1 ds
surface1Z surface2Z
+ (t1(n3 ) )x N1 ds + (t1(n4 ) )x N1 ds, (54)

surface3 surface4
where ni denotes the outward normal to the i th surface
Hence
{fse }i = Fi1
e e
+ Fi2 e
+ Fi3 e
+ Fi4 (55)
where {fse }i denotes the i th component in the surface traction vector


3
ey
2
4
ez ex

3
ey
2
4
ez ex

{fs1 }1 is not the net force acting

on the surface of the
1
tetrahedron along the ex
direction
3
ey
2
4
ez ex

{fs1 }1 is not the net force acting

on the surface of the
1
tetrahedron along the ex
direction
3
ey The 12 components of {fs1 }i
2
4 correspond to the weighted
ez ex average of 3 components of the
traction vector with the 4 shape
functions over the surface of the
tetrahedron

Illustrative mesh
1 1 1
1 3
II
II 3 5
I 3 I 3
5 4
ey 2 2
2 4
4 4
ez ex
(a) (b)

Surface traction vector for the mesh being studied

{Fs } =
 1 1 1 2 1 2 2 2 

(fs1 )1 + (fs2 )1

 F11 + F12 + F13 + F11 + F14 + F12 + F13 + F14 
1 1 1 2 1 2 2 2
   
F21 + F22 + F23 + F21 + F24 + F22 + F23 + F24
   
(fs1 )2 + (fs2 )2

 
 
 

   
1 1 1 2 1 2 2 2
F31 + F32 + F33 + F31 + F34 + F32 + F33 + F34
   
(fs1 )3 + (fs2 )3

 
 
 

   
   1 1 1 1 
(fs1 )4 F41 + F42 + F43 + F44

 
 
 

   
   1 1 1 1 
(fs1 )5 F51 + F52 + F53 + F54

 
 
 

   
   1 1 1 1 
(fs1 )6 F61 + F62 + F63 + F64

 
 
 

   
   1 1 1 2 1 2 2 2 
1
 (fs )7 + (fs2 )7 F71 + F72 + F73 + F71 + F74 + F72 + F73 + F74

 
 
 

  
1 1 1 2 1 2 2 2
(fs1 )8 + (fs2 )8 = F81 + F82 + F83 + F81 + F84 + F82 + F83 + F84
(fs1 )9 + (fs2 )9 1 1 1 2 1 2 2
F91 + F92 + F93 + F91 + F94 + F92 + F93 + F94 2

 
 
 


 
 
 

(fs1 )10 + (fs2 )4 1 1 1 2 1 2 2 2
   








 F101 + F102 + F103 + F41 + F104 + F42 + F43 + F44 


(fs1 )11 + (fs2 )5 1 1 1 2 1 2 2 2
   








 F111 + F112 + F113 + F51 + F114 + F52 + F53 + F54 


(fs1 )12 + (fs2 )6
   
1 1 1 2 1 2 2 2
F121 + F122 + F123 + F61 + F124 + F62 + F63 + F64

 
 
 

   
(fs2 )10
   
   2 2 2 2 

 
 
 F101 + F102 + F103 + F104 

(fs2 )11
   
   2 2 2 2 

 
 
 F111 + F112 + F113 + F114 

(fs2 )12
   
 2 2 2 2 
F121 + F122 + F123 + F124
It then follows from the balance of surface traction that only the
underlined terms are zero

It then follows from the balance of surface traction that only the
underlined terms are zero
The remaining terms of each equation will either be known because
t(n) is known on the boundary or will remain unknown because the
displacement is specified on the boundary

Finite element formulation for linearized elasticity Imposition of the boundary condition


Solution procedure
Remarks

Illustrative boundary conditions

1 1 1
1 3
II
II 3 5
I 3 I 3
5 4
ey 2 2
2 4
4 4
ez ex
(a) (b)

1 1 1
1 3
II
II 3 5
I 3 I 3
5 4
ey 2 2
2 4
4 4
ez ex
(a) (b)

Let us assume that a uniform

pressure, px acts along the ex
1 1 1
1
II
3 direction on the surface with
II 3 5
I 3 5
I 3 4 vertices 1 − 3 − 5
ey 2 2
2 4
4 4
ez ex
(a) (b)


1 1 1
1
II
II 3 5
I 3 5
I 3 4 vertices 1 − 3 − 5
ey 2 2
2
4 4 4 The surface with vertices
ez ex 1 − 2 − 3 is fixed in all three
(a) (b) directions for all times


1 1 1
1
II
II 3 5
I 3 5
I 3 4 vertices 1 − 3 − 5
ey 2 2
2
4 4 4 The surface with vertices
ez ex 1 − 2 − 3 is fixed in all three
(a) (b) directions for all times
All the remaining surfaces are
free of traction

Inference from the traction boundary condition

Surface traction free condition implies
1 1 2 2
Fi2 = Fi4 = Fi2 = Fi4 = 0, ∀ i ∈ {1, 2, . . . , 12} (56)


1 1 2 2
Fi2 = Fi4 = Fi2 = Fi4 = 0, ∀ i ∈ {1, 2, . . . , 12} (56)
Traction on surface 1 − 3 − 5 yields

Z
2
Fi3 = px ex · υ 2i ds (57)
surface3


1 1 2 2
Fi2 = Fi4 = Fi2 = Fi4 = 0, ∀ i ∈ {1, 2, . . . , 12} (56)
Traction on surface 1 − 3 − 5 yields

Z
2
Fi3 = px ex · υ 2i ds (57)
surface3
Traction on surface 1 − 3 − 5 acts only along ex , hence

2
Fi3 = 0, ∀ i ∈ {2, 3, 4, 5, 6, 8, 9, 11, 12} (58)
Z
2 S135
Fi3 = px Ni ds = px , ∀ i ∈ {1, 7, 10} (59)
surface3 3
where S135 denotes the surface area of the triangular surface with vertices
1−3−5

3
ey
2
4
ez ex

3
ey
2
4
ez ex

1
For the assumed form for Ni , the value of
3 Ni on the plane opposite to the i th node is
ey
2 zero
4
ez ex

1
ey
2 zero
4 2 = 0 because N is zero on the
Hence, F43 2
ez ex surface with vertices 1 − 3 − 4.

1
ey
2 zero
4 2 = 0 because N is zero on the
Hence, F43 2
ez ex surface with vertices 1 − 3 − 4.
For similar reasons
1 2
Fi1 = Fi1 = 0, ∀ i ∈ {10, 11, 12}
1
Fi3 = 0, ∀ i ∈ {4, 5, 6}


{Fs } =
 1 1 1 2 1 2 2 2 

(fs1 )1 + (fs2 )1

 F11 + F12 + F13 + F11 + F14 + F12 + F13 + F14 
1 1 1 2 1 2 2 2
   
F21 + F22 + F23 + F21 + F24 + F22 + F23 + F24
   
(fs1 )2 + (fs2 )2

 
 
 

   
1 1 1 2 1 2 2 2
F31 + F32 + F33 + F31 + F34 + F32 + F33 + F34
   
(fs1 )3 + (fs2 )3

 
 
 

   
   1 1 1 1 
(fs1 )4 F41 + F42 + F43 + F44

 
 
 

   
   1 1 1 1 
(fs1 )5 F51 + F52 + F53 + F54

 
 
 

   
   1 1 1 1 
(fs1 )6 F61 + F62 + F63 + F64

 
 
 

   
   1 1 1 2 1 2 2 2 
1
 (fs )7 + (fs2 )7 F71 + F72 + F73 + F71 + F74 + F72 + F73 + F74

 
 
 

  
1 1 1 2 1 2 2 2
(fs1 )8 + (fs2 )8 = F81 + F82 + F83 + F81 + F84 + F82 + F83 + F84
(fs1 )9 + (fs2 )9 1 1 1 2 1 2 2
F91 + F92 + F93 + F91 + F94 + F92 + F93 + F94 2

 
 
 


 
 
 

(fs1 )10 + (fs2 )4 1 1 1 2 1 2 2 2
   








 F101 + F102 + F103 + F41 + F104 + F42 + F43 + F44 


(fs1 )11 + (fs2 )5 1 1 1 2 1 2 2 2
   








 F111 + F112 + F113 + F51 + F114 + F52 + F53 + F54 


(fs1 )12 + (fs2 )6
   
1 1 1 2 1 2 2 2
F121 + F122 + F123 + F61 + F124 + F62 + F63 + F64

 
 
 

   
(fs2 )10
   
   2 2 2 2 

 
 
 F101 + F102 + F103 + F104 

(fs2 )11
   
   2 2 2 2 

 
 
 F111 + F112 + F113 + F114 

(fs2 )12
   
 2 2 2 2 
F121 + F122 + F123 + F124
Surface traction vector for the mesh being studied after

application of boundary condition


F11 + px S135
 1 

 3 

1
F21

 


 

1
F31

 


 

1
F41

 


 

1
F51

 


 

1
F61

 


 

 F71 + px S135
1

 

3 
{Fs } = 1
F81
1
F91

 


 

0

 


 

0

 


 

0

 


 

S135
p

 


 x 3


0

 


 

0
 


F11 + px S135
 1 

 3 

1
F21

 


 

1
F31

 


 

1
F41

 


 

1
F51

 


 

1
F61

 


 

 F71 + px S135
1

 

3 
{Fs } = 1
F81
1
F91

 


 

0

 


 

0

 


 

0

 


 

S135
p

 


 x 3


0

 


 

0
 


F11 + px S135
 1 

 3 

1
F21

 


 

1
F31

 


 

1
F41

 


 

1
F51

 


 

1
F61

 


 

 F71 + px S135
1

 

3 
{Fs } = 1
F81 There are 9 unknowns in the
1
F91
 
surface traction vector

 

 
0

 


 

0

 


 

0

 


 

S135
p

 


 x 3


0

 


 

0
 

Displacement boundary condition


1 1 1
1 3
II
II 3 5
I 3 I 3
5 4
ey 2 2
2 4
4 4
ez ex
(a) (b)


1 1 1
1 3
II
II 3 5
I 3 I 3
5 4
ey 2 2
2 4
4 4
ez ex
(a) (b)
The surface with vertices

1 − 2 − 3 is fixed in all three
directions for all times


1 1 1
1 3
II
II 3 5
I 3 I 3
5 4
ey 2 2
2 4
4 4
ez ex
(a) (b)

The non-zero components of
{ÜFEM } is also same as that of
{UFEM }


1 1 1
1 3
II
II 3 5
I 3 I 3
5 4
ey 2 2
2 4
4 4
ez ex
(a) (b)

The non-zero components of
{ÜFEM } is also same as that of
{UFEM }
There are 6 unknown
displacement dof

1 1 1    
1
II
3
5
 U1   0 
II 3
I
   
3
V1 0
I 3 4
   
5

 
 
 

ey 2 2    
2
W1 0
4

   
4 4  
 
 


 
 
 

ez ex 

 U2 




 0 


   
(a) (b)



 V2 






 0 






 W2 






 0 



U3 0

 
 
 

   
The surface with vertices {UFEM } = V3 = 0
1 − 2 − 3 is fixed in all three 

 W3





 0



   
directions for all times 

 U4





 U4




 
 
 

The non-zero components of 

 V4 




 V4 


   
{ÜFEM } is also same as that of 


 W4 






 W4 



{UFEM } 


 U5 






 U5 



V5 V5
   
There are 6 unknown

 
 
 

   
W5 W5
   
displacement dof
Finite element governing equation
The 15 unknowns - 9 in surface traction vector and 6 in displacement

vector has to be determined from 15 linear equations
(K){UFEM } + (M){ÜFEM } = {Fs } + {Fb } = {FFEM } (60)

Finite element formulation for linearized elasticity Solution procedure


Solution procedure
Remarks

Reformulation of the finite element governing equation

(K11 ) (K12 ) {U1 } {F1 }
= , (61)
(K21 ) (K22 ) {U2 } {F2 }
Where


(K11 ) (K12 ) {U1 } {F1 }
= , (61)
(K21 ) (K22 ) {U2 } {F2 }
Where


(K11 ) (K12 ) {U1 } {F1 }
= , (61)
(K21 ) (K22 ) {U2 } {F2 }
Where


(K11 ) (K12 ) {U1 } {F1 }
= , (61)
(K21 ) (K22 ) {U2 } {F2 }
Where
{U1 } is the column of known

displacement variables


(K11 ) (K12 ) {U1 } {F1 }
= , (61)
(K21 ) (K22 ) {U2 } {F2 }
Where

{U2 } is the column of unknown


(K11 ) (K12 ) {U1 } {F1 }
= , (61)
(K21 ) (K22 ) {U2 } {F2 }
Where



(K11 ) (K12 ) {U1 } {F1 }
= , (61)
(K21 ) (K22 ) {U2 } {F2 }
Where
{U1 } is the column of known {F1 } is the column of unknown

displacement variables surface traction vector


(K11 ) (K12 ) {U1 } {F1 }
= , (61)
(K21 ) (K22 ) {U2 } {F2 }
Where

{U2 } is the column of unknown {F2 } is the column of known


(K11 ) (K12 ) {U1 } {F1 }
= , (61)
(K21 ) (K22 ) {U2 } {F2 }
Where

{U2 } is the column of unknown {F2 } is the column of known
(Kij ) are matrices obtained from partitioning the global stiffness
matrix, depending on the number of known and unknown

Determination of unknown displacement and traction

vector
Writing the above equation as two matrix equations
(K11 ){U1 } + (K12 ){U2 } = {F1 } (62)

(K21 ){U1 } + (K22 ){U2 } = {F2 } (63)


vector
(K11 ){U1 } + (K12 ){U2 } = {F1 } (62)

(K21 ){U1 } + (K22 ){U2 } = {F2 } (63)
Solving for {U2 } we obtain
{U2 } = (K22 )−1 [{F2 } − (K21 ){U1 }] (64)


vector
(K11 ){U1 } + (K12 ){U2 } = {F1 } (62)

(K21 ){U1 } + (K22 ){U2 } = {F2 } (63)
Solving for {U2 } we obtain
{U2 } = (K22 )−1 [{F2 } − (K21 ){U1 }] (64)
Then {F1 } is computed from
{F1 } = (K11 ){U1 } + (K12 )(K22 )−1 [{F2 } − (K21 ){U1 }] (65)

Finite element formulation for linearized elasticity Post processing of the results


Solution procedure
Remarks

Computing the displacement field
 1 Pn
 U = i=1 di1 υ 1i
 U2 = Pn d 2 υ 2


i=1 i i
u= .. , (66)

 .
U = ni=1 die υ ei

 e P
where e is the number of elements in the mesh and n is the number of

degrees of freedom. Depending on the value of x, the corresponding
element in equation (66) is used

Computing the displacement gradient
grad(U1 ) = Pni=1 di1 grad(υ 1i )

 P

 grad(U2 ) = n d 2 grad(υ 2 )


i=1 i i
grad(u) = .. (67)
P.


grad(Ue ) = ni=1 die grad(υ ei )


Note that the derivative calculated from different elements meeting at a

node is always discontinuous in all approximations in which only the
function values are interpolated, unless the approximate solution coincides
with the actual solution

Computing the surface traction
Two ways to compute surface traction

1. Determined from elemental equation:
{fs }equil = (Ke ){d} + (Me ){d̈} − {Fb } (68)

Computing the surface traction
Two ways to compute surface traction

1. Determined from elemental equation:
{fs }equil = (Ke ){d} + (Me ){d̈} − {Fb } (68)
2. Determined from the definition:

Z
{fse }def = t(n) · υ i ds (69)
∂At
where t(n) is computed from its definition, t(n) = σn, where the
Cauchy stress is determined from Hooke’s law and strain deduced
from the computed gradient of the displacement

Since {fse }def

i are calculated using the approximate displacement field,
they are not as accurate as {fse }equil
i

Since {fse }def

i
{fse }def
i 6= {fse }equil
i

Since {fse }def

i
{fse }def
i 6= {fse }equil
i
Because of computational aspects, in finite element computer codes
{fse }def
i are calculated instead of {fse }equil
i

Since {fse }def

i
{fse }def
i 6= {fse }equil
i
Because of computational aspects, in finite element computer codes
{fse }def
i are calculated instead of {fse }equil
i
However, the difference between {fse }def
i and {fse }equil
i decreases as
the number of elements is increased or the degree of the interpolation
is increased, hopefully!

Finite element formulation for linearized elasticity Remarks
Remark - 1: Determining {fse }i for point forces
If a point force, Fo acts at a point, say xo , then
t(n) (x) = Fo δ(x − xo ), (70)

where the Dirac delta function δ(·) is defined by
Z ∞
F (x)δ(x − xo )dv = F (xo ). (71)
−∞

Remark - 1: Determining {fse }i for point forces
If a point force, Fo acts at a point, say xo , then
t(n) (x) = Fo δ(x − xo ), (70)

where the Dirac delta function δ(·) is defined by
Z ∞
F (x)δ(x − xo )dv = F (xo ). (71)
−∞
Hence, when traction vector is given by (70)

Z
e
{fs }i = t(n) · υ i ds = Fo · υ i (xo ). (72)
∂At

Remark - 2: Sources of error in the finite element solution
1. Domain approximation error, which is due to the approximation of the

domain


domain
2. Computational errors, which are due to inexact evaluation of the
coefficients of the element stiffness matrix and force vector or are
introduced owing to the finite arithmetic in a computer.


domain
3. Approximation errors, which is due to approximation of the solutions
by piecewise polynomials.


domain
3. Approximation errors, which is due to approximation of the solutions
by piecewise polynomials.
The main source of error in a boundary value problem is the third
error.

Remark - 3: Symmetry of the stiffness and mass matrix
The element matrices - stiffness and mass matrix - derived from

Galerkin method is symmetric, irrespective of the type of element
used or the order of the polynomial used to approximate the solution


Because of the symmetry of the element matrices, the assembled
global matrix will also be symmetric


Because of the symmetry of the element matrices, the assembled
global matrix will also be symmetric
The symmetry of the global and elemental matrices depends on the
differential equation, the weighted residual formulation and
numbering of the finite element equations.

Remark - 4: Sparseness of the stiffness and mass matrix
Since, Kij = Mij = 0 if global nodes i and j do not belong to the

same element, the global matrices are banded, i.e., all components
beyond a certain distance from the diagonal are zero


A banded matrix is a sparse matrix


A banded matrix is a sparse matrix
Thus, the sparseness of the matrix is a result of the finite element
interpolation functions, which have non-zero values only over an
element of the domain.

Remark - 5: Estimate of stress
The balance of the surface forces at the inter element surfaces is

expressed in a weighted integral sense, is an approximation over the
actual requirement


actual requirement
Even this condition will not be satisfied by the finite element solution


actual requirement
Since, {fse }def
i 6 {fse }equil
= i , finite element solution also only ensures
e equil e+1 equil e+1 def
that (FiJ ) + (FkL ) = 0 and not (FiJe )def + (FkL ) = 0.


actual requirement
Since, {fse }def
i 6 {fse }equil
= i , finite element solution also only ensures
e equil e+1 equil e+1 def
that (FiJ ) + (FkL ) = 0 and not (FiJe )def + (FkL ) = 0.
Thus, the conditions on the traction are only satisfied approximately
and consequently the estimate of the stresses by the finite element
method is also poor in comparison to the estimate of the displacement

Remark - 6: Estimate of the displacement field
The displacement field obtained from finite element method satisfies

the equilibrium equation only in an approximate sense, since the
procedure is based on the weak form of the differential equation.

Remark - 6: Estimate of the displacement field
The displacement field obtained from finite element method satisfies

the equilibrium equation only in an approximate sense, since the
procedure is based on the weak form of the differential equation.
The assumed displacement field, in many cases, does not contain the
actual displacement field and hence there will be an error in the
estimated displacements

Finite Element Method: U. Saravanan

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Finite element method

U. Saravanan (IIT Madras) Finite element method March 2019 1 / 81

1 Finite element formulation

U. Saravanan (IIT Madras) Finite element method March 2019 2 / 81

1 Finite element formulation

2 Finite element formulation for linearized elasticity

U. Saravanan (IIT Madras) Finite element method March 2019 2 / 81

Applied forces Motion / displacement

U. Saravanan (IIT Madras) Finite element method March 2019 3 / 81

Basic equations in mechanics

U. Saravanan (IIT Madras) Finite element method March 2019 4 / 81

Basic equations in mechanics

Constitutive relation - Isotropic Hooke’s law:

σ = λtr ()1 + 2µ = D. (2)

U. Saravanan (IIT Madras) Finite element method March 2019 4 / 81

Basic equations in mechanics

Equilibrium Equations - Spatial form

div (σ) + ρb = ρa. (4)

U. Saravanan (IIT Madras) Finite element method March 2019 5 / 81

Initial-Boundary value problem - Spatial formulation

To find a differentiable displacement field, u so that:

u = ū, on ∂Aut , (6)

U. Saravanan (IIT Madras) Finite element method March 2019 6 / 81

where, ϕ̃i ’s are specified a priori and ci ’s are to be determined.

U. Saravanan (IIT Madras) Finite element method March 2019 7 / 81

U. Saravanan (IIT Madras) Finite element method March 2019 8 / 81

ϕ0 (x) = ū, ∀ x ∈ ∂Aut . (11)

U. Saravanan (IIT Madras) Finite element method March 2019 8 / 81

U. Saravanan (IIT Madras) Finite element method March 2019 9 / 81

Satisfy homogeneous displacement boundary condition

ϕi (x) = o, ∀ x ∈ ∂Aut , (12)

U. Saravanan (IIT Madras) Finite element method March 2019 9 / 81

Satisfy homogeneous displacement boundary condition

ϕi (x) = o, ∀ x ∈ ∂Aut , (12)

ϕi ’s to be piecewise differentiable functions

U. Saravanan (IIT Madras) Finite element method March 2019 9 / 81

Satisfy homogeneous displacement boundary condition

ϕi (x) = o, ∀ x ∈ ∂Aut , (12)

ϕi ’s to be piecewise differentiable functions

U. Saravanan (IIT Madras) Finite element method March 2019 9 / 81

Satisfy homogeneous displacement boundary condition

ϕi (x) = o, ∀ x ∈ ∂Aut , (12)

ϕi ’s to be piecewise differentiable functions

U. Saravanan (IIT Madras) Finite element method March 2019 9 / 81

Weakened Equilibrium equation - Spatial form

Let the weight function, φ = φ̃(x), then

U. Saravanan (IIT Madras) Finite element method March 2019 10 / 81

Weakened Equilibrium equation

Hence weakened equilibrium equation in spatial form

U. Saravanan (IIT Madras) Finite element method March 2019 11 / 81

Weighted residual methods

How do we find the unknown ci ’s?

U. Saravanan (IIT Madras) Finite element method March 2019 12 / 81

Weighted residual methods

How do we find the unknown ci ’s?

U. Saravanan (IIT Madras) Finite element method March 2019 12 / 81

Weighted residual methods

How do we find the unknown ci ’s?

U. Saravanan (IIT Madras) Finite element method March 2019 12 / 81

Weighted residual methods

How do we find the unknown ci ’s?

U. Saravanan (IIT Madras) Finite element method March 2019 12 / 81

Weighted residual methods

σ = λtr ()1 + 2µ = D. (2)