MECH-4523/5523

Finite Element Analysis

Oklahoma Christian University

Element Types – Chapter 4, Sections 4.1-4.2

Fall 2016

Debra Whiteman Wood Department of Mechanical Engineering

Overview
• As can be seen by our
previous work, the
type of element
representation chosen
has a profound impact
on the overall answer
• In this chapter, we will
give a “brief” overview
and discussion of the
various types normally Our energy method depends on the “shape
found in FEA software. function”, which is a description of the
behavior of the element itself

Debra Whiteman Wood Department of Mechanical Engineering

Types of Elements
• Normally offered in FEA software

• Many variants of
these types exist!

Debra Whiteman Wood Department of Mechanical Engineering

Point (Mass) element
• Used to model a concentrated point mass
• Usually used in conjunction with spring elements

Debra Whiteman Wood Department of Mechanical Engineering

Line Elements
1-dimensional elements (we’ve already seen the
simplest type)
– Spar/Truss Elements
– Spring Elements
– Beam Elements
– Pipe Elements
– 2D Contact/Gap Elements

We will discuss some of these –

more detailed information is in the
text

Debra Whiteman Wood Department of Mechanical Engineering

Beam Elements In SolidWorks you will see this when you
select “Treat as Beam”

• Can handle bending plus axial

loading
• Requires cross-sectional
information
• Some even allow tapered
beams

Nodes can translate in two directions and

rotate in 1 direction

Debra Whiteman Wood Department of Mechanical Engineering

Pipe Elements

PIPE16 Element (ANSYS)

Essentially the same as beam elements, but internal and external pressure
are allowed.

Some variants even allow for buoyancy computations.

Debra Whiteman Wood Department of Mechanical Engineering

Area Elements
• 2 Dimensional with 2 fundamental shapes:
– Triangles (not typically used anymore)
– Rectangles
• Main Types:
– Plane Stress
– Plane Strain
– Axisymmetric
– Plate
• Do not allow for bending (3D deformation)

In SolidWorks you will see this when you

select “2D Simplification”

Debra Whiteman Wood Department of Mechanical Engineering

Plane Stress vs. Plane Strain
• Plane stress is a state Thin members!
What applications can you think of?
where there is negligible
stress in the z-direction
• Plane strain is a state
where this is negligible
strain in the z-direction
Thick members!
• The two don’t occur at the What applications can you think of?
same time due to the
Poisson effect, be careful
in your application of the
element types!

Debra Whiteman Wood Department of Mechanical Engineering

Axisymmetric Elements
• Discussed in previous lecture
• Simplification of a model by looking for geometrical
symmetry about an axis

Pressure vessels!

Deep Drawing and Metal Forming

Applications

Far more common than you think!

Can save A LOT of computation time

Debra Whiteman Wood Department of Mechanical Engineering

Simple Axisymmetric Case
Pipes, pressure vessels, cylindrical objects, etc.

Typically rather easy to apply.

Debra Whiteman Wood Department of Mechanical Engineering

Deep Drawing and Metal Forming

Debra Whiteman Wood Department of Mechanical Engineering

Deep Drawing and Metal Forming

Debra Whiteman Wood Department of Mechanical Engineering

An Advanced Axisymmetic Case
Note that this case also uses contact elements.

Due to the
nonlinear nature of
this type of
problem, the
computational cost
is high! As such, use
of a reduced mesh
(i.e. axisymmetric
elements) is very
warranted.

Debra Whiteman Wood Department of Mechanical Engineering

 Curved Area Elements
• Curved plate elements that have both bending and axial
loading (membrane/stretching effects)
– Shell Elements
– 3D Contact elements
– 3D Surface Effect Elements

Applications? Numerous – any thin structure

sheet metal, thin-walled pressure vessels, ribbed supports, etc.

Debra Whiteman Wood Department of Mechanical Engineering

Shell Element Example
An extremely
common application
is that of the
reinforced shell. This
is very difficult to
model in FEA without
shell elements.

Debra Whiteman Wood Department of Mechanical Engineering

Summary and Conclusions
• In this section, we have overviewed
the most common types of elements
available for structural FE analysis

• Understanding the most appropriate

element for each situation is KEY to
responsible FEA. Using more
complicated elements than warranted
can actually REDUCE accuracy while
greatly increasing the computational
cost of the analysis.
Be certain to read the text.
These slides are based on
the text, but do not address
everything included in the
readings.

Debra Whiteman Wood Department of Mechanical Engineering

 SHAPE FUNCTIONS – CHAPTER 4,
SECTIONS 4.3 - 4.5

Debra Whiteman Wood Department of Mechanical Engineering

Overview
• Now that we have explored common element types and developed energy
methods that define our model, we will look at the shape functions that
define our element behavior.
• The concept of shape functions are critical for a mature understanding of
the FEA formulation process

Consider the following Rigid Wall

problem:

We break this beam into 3

Force
elements

Debra Whiteman Wood Department of Mechanical Engineering

1D Linear Shape Function
displacement
Rigid Wall

Blue = Actual
Force Red = Approximate

Our FEA software would

“approximate” this curve as a
series of 3 lines based on the Wall End
element formulation

Debra Whiteman Wood Department of Mechanical Engineering

1D Linear Shape Function
• Let’s look at our element with nodes i
and j, each having their own
displacement
• The shape function “S” describes the
way a node moves within the element
• For a line element such as this, the
displacement at any distance x can be
determined from:

u(X) = SiUi + SjUj

Debra Whiteman Wood Department of Mechanical Engineering

Coordinate Sets for 1D Truss Element
We need a global coordinate system, however:
– It is easier mathematically to NOT have everything in
terms of one giant coordinate system
– Integration is easier when we use local coordinates!

Each element has a local

coordinate system that is defined
from node I

The global distance X is simply:

𝑋 = 𝑋𝑖 + 𝑥

Debra Whiteman Wood Department of Mechanical Engineering

Local vs. Natural Coordinates
Each element also has a “natural”
coordinate system that is
essentially the local coordinates
in a dimensionless form

The natural coordinate system is

in the center of the element. The
distance from this coordinate is
designated as ξ (xi). It is defined 2𝑥
as -1 at node I and 1 at node j. 𝜉= −1
𝑙

This has advantages because we can integrate from -1 to 1 easily

Debra Whiteman Wood Department of Mechanical Engineering

Shape Function Properties
Shape functions have certain Si
properties that make life easier when
1
implementing the energy method

1. A shape function has a value of “1”

at its corresponding node and “0” at Xi Xj
the other adjacent node
2. The shape functions within an Sj
element all add up to unity 1
(𝑆𝑖 + 𝑆𝑗 = 1)
3. The sum of the derivatives of the
shape functions is zero Xi Xj

Debra Whiteman Wood Department of Mechanical Engineering

Increasing Accuracy
• Obviously, I can make my displacement
model more accurate by
increasing the number of Blue = Actual
elements Red = Approximate
• How else is this possible?

We can create an
interpolation formulation
and fit a quadratic function
rather than linear
Wall End

Debra Whiteman Wood Department of Mechanical Engineering

Quadratic Element Formulations
• In order to make a quadratic element, we need
additional nodes (3 to fit a quadratic curve)

Note that “k” is the middle node, this

is the standard formulation for a
quadratic element (not alphabetical)

Now my location at any value of x is:

u(X) = SiUi + SkUk +SjUj

Debra Whiteman Wood Department of Mechanical Engineering

Shape Functions
• For a 1D quadratic spar/truss element, the
approximations are given by LaGrange Shape
Functions

1 1
𝑆𝑖 = − 𝜉(1 − 𝜉) 𝑆𝑘 = (1 + 𝜉) (1 − 𝜉) 𝑆𝑗 = − 𝜉(1 − 𝜉)
2 2

Debra Whiteman Wood Department of Mechanical Engineering

Find Strain & Stress
• In natural coordinates the strain displacement matrix
for a 1D quadratic truss element is:
2 1 − 2𝜉 1 + 2𝜉
[𝐵]𝑚 = − −2𝜉
𝑙 2 2

• The strain is [B]{U}

• The stress is the elasticity matrix, [D], multiplied by
strain (for isotropic material, [D] is simply E)
𝜀 = 𝐵 {𝑈} 𝜎 = 𝐷 {𝜀}

Debra Whiteman Wood Department of Mechanical Engineering

1D Quadratic Truss [K]
• From Chap 3, we know that the stiffness matrix for
an element m is given by
1
𝐸𝐴𝑙
[𝐾]𝑚 = න 𝐵𝑇 𝐵 𝑑𝜉
2 −1

• Putting in our values for B given the shape functions,

we arrive at:
𝑖 𝑘 𝑗
𝐸 𝑖 𝐴𝑖 7 −8 1 𝑖
𝐾𝑖= −8 16 −8 𝑘
3𝑙𝑒
1 −8 7 𝑗

Debra Whiteman Wood Department of Mechanical Engineering

1D Quadratic Truss
• Note that this is NOT the same as the book. This is
the standard nomenclature and will lead to less
confusion.

𝑖 𝑘 𝑗 𝑖 𝑗 𝑘
𝐸 𝑖 𝐴𝑖 7 −8 1 𝑖 𝐸 𝑖 𝐴𝑖 7 1 −8 𝑖
𝑖 𝑖
𝐾 = −8 16 −8 𝑘 𝐾 = 1 7 −8 𝑗
3𝑙𝑒 3𝑙𝑒
1 −8 7 𝑗 −8 −8 16 − 8 𝑘

Debra Whiteman Wood Department of Mechanical Engineering

What About Forces?
• With the stiffness matrix, we can now solve for
displacements given what we know about the forces
- remember.. 𝑲 𝑼 = [𝑭]
• Lets define our force vector, now we have body
forces (weight) as well as point forces.
• The element body force vector, in terms of each
node i, k and j is given by 1/6 𝑖
𝑙 𝑏
𝑓𝐵 = 𝐴 𝑓 2/3 𝑘
2
1/6 𝑗

Debra Whiteman Wood Department of Mechanical Engineering

1D Quadratic Truss Example (1/7)
100mm
The stepped solid shaft
supports its own weight PLUS
the 100 kN force at the free
𝜙=100mm
end

Determine the stress

distribution in the shaft using
100mm 𝜙=50mm 1D quadratic truss elements

The shaft is made from steel

with E=210GPa and 𝜌=7850
kg/𝑚3
𝐹=100 kN

Debra Whiteman Wood Department of Mechanical Engineering

1D Quadratic Truss Example (2/7)
Using our previously derived
formula for the stiffness matrix
𝑖1
(Eq 4-46)
𝑖 𝑘 𝑗
𝐸 𝑖 𝐴𝑖 7 −8 1 𝑖 Element 1
𝑖 𝑘1
𝐾 = −8 16 −8 𝑘
3𝑙𝑒 𝑗
1 −8 7
𝑗1 , 𝑖2
7𝐴1 −8𝐴1 𝐴1 0 0
−8𝐴1 16𝐴1 −8𝐴1 0 0
𝐸 Element 2 𝑘2
𝐾= 𝐴1 −8𝐴1 7(𝐴1 + 𝐴2 ) −8𝐴2 𝐴2
3𝐿 16𝐴2 −8𝐴2
0 0 −8𝐴2
0 0 𝐴2 −8𝐴2 7𝐴2
𝑗2

Debra Whiteman Wood Department of Mechanical Engineering

1D Quadratic Truss Example (3/7)
Body Forces (since we have weight) 𝐹𝑤𝑒 = 𝜌𝐴𝐿𝑔
Force = mass x acceleration

From Eq. 4-47, we have the body forces in terms of the shape functions:
1 1/6 𝑖
𝐴 𝑒 𝐿
{𝑓 𝐵 } 𝑒 = 𝑓𝑒𝑏 න 𝑆 𝑇 𝑑𝜉 = 𝐴𝑒 𝐿𝑓𝑒𝑏 2/3 𝑘
2 −1 1/6 𝑗

1/6 𝑖 1/6 𝑖
{𝑓 𝐵 } 1 = 𝜌𝐴12 𝐿2 𝑔 2/3 𝑘 {𝑓 𝐵 } 2 = 𝜌𝐴22 𝐿2 𝑔 2/3 𝑘
1/6 𝑗 1/6 𝑗
Element 1 Element 2

Debra Whiteman Wood Department of Mechanical Engineering

1D Quadratic Truss Example (4/7)
1/6 𝑖 Assembling the entire body force vector yields:
{𝑓 𝐵 } 1 = 𝜌𝐴12 𝐿2 𝑔 2/3 𝑘 𝑓1𝐵 (𝑖)
1/6 𝑗 𝑓1𝐵 (𝑘)
𝑓𝐵 = 𝑓1𝐵 (𝑗) + 𝑓2𝐵 (𝑖)
1/6 𝑖
𝑓2𝐵 (𝑘)
{𝑓 𝐵 } 2 = 𝜌𝐴22 𝐿2 𝑔 2/3 𝑘
1/6 𝑗 𝑓2𝐵 (𝑗)

The global Force equation then becomes: The 𝑖 here designates the
“𝑖 𝑡ℎ ” term of the vector, in
1
𝑓1𝐵 (𝑖) this case 𝑓1𝐵 𝑖 = 6 𝜌𝐴12 𝐿2 𝑔
𝑓1𝐵 (𝑘)
𝐹 = 𝑓1𝐵 (𝑗) + 𝑓2𝐵 (𝑖)
𝑓2𝐵 (𝑘)
𝑓2𝐵 𝑗 + 𝐹

Debra Whiteman Wood Department of Mechanical Engineering

1D Quadratic Truss Example (5/7)
Now we know that node 1 has zero
𝐾 𝑈 = {𝐹} displacement, or U1=0. This reduces our matrix
formulation to:

7𝐴1 −8𝐴1 𝐴1 0 0 0 𝑓1𝐵 (𝑖)

−8𝐴1 16𝐴1 −8𝐴1 0 0 𝑈2 𝑓1𝐵 (𝑘)
𝐸
𝐴1 −8𝐴1 7(𝐴1 + 𝐴2 ) −8𝐴2 𝐴2 𝑈3 = 𝑓1𝐵 (𝑗) + 𝑓2𝐵 (𝑖)
3𝐿 16𝐴2 −8𝐴2 𝑈4
0 0 −8𝐴2 𝑓2𝐵 (𝑘)
0 0 𝐴2 −8𝐴2 7𝐴2 𝑈5 𝑓2𝐵 𝑗 + 𝐹

System to Solve
Where:
1/6 𝑖 1/6 𝑖
𝐵
{𝑓 } 2 = 𝜌𝐴22 𝐿2 𝑔 2/3 𝑘 𝐵
{𝑓 } 1 = 𝜌𝐴12 𝐿2 𝑔 2/3 𝑘
1/6 𝑗 1/6 𝑗

Debra Whiteman Wood Department of Mechanical Engineering

1D Quadratic Truss Example (6/7)
Solving for the displacement U, we get the following:

Now that we have displacements, we can move

forward to strain and stress

Debra Whiteman Wood Department of Mechanical Engineering

1D Quadratic Truss Example (7/7)
Using Equation 4-45
Define the Strain for each Element
 0   U3 
2  ( 1  2  ) 1  2    U  2  ( 1  2  ) 1  2    
 1(  )   
L 
2   2   2(  )    2   4 
U
2 2   L  2 2  
 U3   U5 
8 8 8
 1( 1)  6  10  1( 0)  6  10  1( 1)  6  10
7 7 7
 2( 1)  2  10  2( 0)  2  10  2( 1)  2  10

Assemble the Strain Nodal Results


   1( 1)  1( 0)  1( 1)   2( 1)  2( 0)  2( 1) 

  6.07  10
8 8
6.06  10
7
3.03  10 2.43  10
7
2.43  10
7 
Determine the Stress Nodal Results

  E    ( 12739 12736 63664 50930 50930 ) Pa

Debra Whiteman Wood Department of Mechanical Engineering

Summary and Conclusions
In this presentation we have introduced the
concept of SHAPE FUNCTIONS. Shape
Functions are critical to a mature
understanding of the FEA formulation
process as they allow adaptation to
different element concepts.

We have also introduced the definition of

Global, Local, and Natural coordinates.
Natural coordinates (ranging between -1
and 1) are extremely advantageous when Be certain to read the text.
formulating the stiffness matrix as These slides are based on
integration over the domain of each the text, but do not address
element is required. everything included in the
readings.
Finally, we examined an example using an
1D quadratic truss element formulation.

Debra Whiteman Wood Department of Mechanical Engineering

BEAM ELEMENTS – SECTION 4.8
FALL 2016

Debra Whiteman Wood Department of Mechanical Engineering

Overview
• In your homework you were asked to perform an
analysis using 1D linear beam elements
• Tonight we will delve a bit deeper into beams and
the derivation of both 1D and 2D beams

• Why?
– Beams are an important element class, and will give an
idea of the complexity level involved in some of these
higher-order elements

Debra Whiteman Wood Department of Mechanical Engineering

Beam Element Properties and Value
Beam elements represent a 1D
structure that can move in 3D.
Beam elements differ from truss
or spar elements in that they
include:
• Bending
• Nodal Rotations
• Transverse Nodal DOF’s
• Potentially torsion

Beam elements are an important

part of FEA as they allow efficient
models to be made of slender,
flexible components.

Debra Whiteman Wood Department of Mechanical Engineering

1D Beam Element Formulation
(1/5)
We will begin with the fundamental equations from analytical beam theory.
We will limit our discussion to “linear” beam theory. Formulations do exist
for nonlinear beam elements (good research paper topic).

My  d 2v M
   2

I E dx EI
We now need to formulate the strain energy of a small differential length of
our beam element (length dx). The formula is the same form as introduced
earlier.
1 1 M2  1 M2
d      dA dx   2 A y dA  dx  d   2 E I dx
2

2 A 2  EI

Debra Whiteman Wood Department of Mechanical Engineering

1D Beam Element Formulation
(2/5)
Now that we know the strain energy of a differential length of the beam, we
can integrate to determine the energy of the beam element.
2
L
1  d 2v 
Total Strain Energy     EI  2  dx
2 0  dx 

Before we can proceed with Minimization of Total Potential Energy we need

to also account for the energy related with loading.
2
1
L
 d 2v  L
   EI  2  dx   f d v dx   Fm vm   M n n
2 0  dx  0 m n

Debra Whiteman Wood Department of Mechanical Engineering

1D Beam Element Formulation
(3/5)
Let’s start by focusing on a linear beam
element that only allows transverse
motion and rotation (no axial). The
shape functions for the element are
shown below (a bit more complicated to
derive, but essentially the same as
earlier).
1 1
Si  1     2    Si  1      1
2 2

4 4

1 1
S j  1     2    S j  1      1
2 2

4 4

Debra Whiteman Wood Department of Mechanical Engineering

1D Beam Element Formulation
(4/5)
The beam deflection is now given by …

 dv   dv 
v( )  Si vi  Si    S j v j  S j  
 d  i  d  j
We will now clean the above expression
up a bit as follows …

le dv dv dx  l  dv
dx  d    
2 d dx d   2  dx
therefore …

le le
v( )  Si vi  Si i  S j v j  S j j
2 2

Debra Whiteman Wood Department of Mechanical Engineering

1D Beam Element Formulation
(5/5)
Substituting the v() relationship into our
total potential energy formulations
allows one to reach the following:

 12 6le 12 6le 

 6l 4l 2
6le 2le 2 
1 E I
  U   K e  U   K e   e 3 e  e
T
 e

2 le  12 6le 12 6le 

 
 e
6l 2le
2
6le 4le 2 

  U   f   
T


T f d le f d le 2 f d le f d le 2
f v dx  f
d e
 e

le
2 12 2 12


Debra Whiteman Wood Department of Mechanical Engineering

2D Beam Element Formulation
(1/4)
What if we want to extend our discussion
to more degrees of freedom. Consider
the case shown.

Each node now has three dof’s: two

translational and one rotation. This
configuration allows for axial strain. As
such our new stiffness matrix will
essentially be a proper assembly of the
[K] for the 1D beam element and the [K]
for the 1D truss or spar element.

U   U i
T
Vi i U j V j  j 
A complicating factor, however, is that
the element geometry is 2D.

Debra Whiteman Wood Department of Mechanical Engineering

2D Beam Element Formulation
(2/4)
To avoid the complexity of working in 2D geometry, we will use a local
coordinate system that is oriented to align with the element.

U   U i  
T T
Vi i U j V j  j   U  U 'i V 'i  'i U ' j V ' j  ' j 
'

  0 0 0 0
This transformation   0 0 0 0 
  and 
is accomplished  0 0 1 0 0 0 are
using a local-to-global   L   0 0 0   0
 direction
transformation  cosines
matrix.  0 0 0   0
 
 0 0 0 0 0 1

Debra Whiteman Wood Department of Mechanical Engineering

2D Beam Element Formulation
(3/4)
So, assembling our elemental stiffness matrix gives us the following results
for the 2D beam element …
 EA EA 
 l 0 0  0 0 
l
 
 0 12 EI 6 EI
0 
12 EI 6 EI 
 l3 l2 l3 l2 
 
 0 6 EI 4 EI 6 EI 2 EI 
0  2
 2
l  1
' e
 K    l l l
U   Le T K 'e Le  U 
T
  e 
EA EA 2
 0 0 0 0 
 l l 
 12 EI 6 EI 12 EI 6 EI 
 0  3  0   2 
 l l2 l3 l 
 6 EI 2 EI 6 EI 4 EI 
 0 0  2
l2 l l l 

Debra Whiteman Wood Department of Mechanical Engineering

2D Beam Element Formulation
(4/4)
A similar operation can be performed for the distributed forcing …

T
 d d 2 d
 f le 
d 2

  f le f le f le
e
f'  0 0 
 2 12 2 12 

Note that the distributed forcing does not have work (or energy) associated
with the local axial coordinate … Thus the zeros.

As you can see, implementation of a 2D beam element can be involved. 3D

elements are even more complicated as a far more complicated global-to-
local transformation matrix is required.

Debra Whiteman Wood Department of Mechanical Engineering

Summary / Conclusions
• In this presentation we have talked about
the basic derivation of a beam element.
The derivation is a bit more mathematically
complex than that of a truss element, but
essentially the same steps are involved.

• Understanding what goes into the

derivation of an FEA element formulation
is important. This understanding will help
you understand what can (and will) at
times go wrong within FEA.

• As you advance to more and more Be certain to read the text.

complicated modeling tasks, it will become These slides are based on
necessary for you to “dig into” the the text, but do not address
formulation theory of the code you are
using. Good quality FEA software provides everything included in the
considerable theory documentation to the readings.
end user. FEA is NOT a point-and-click
coding tool … it takes deep understanding
to use it wisely.

Debra Whiteman Wood Department of Mechanical Engineering