Example 1.2: Several springs are connected as shown in Figure 1.

2 subjected to an axial force

of 500N. Stiffness values of springs are given as: K1 = K2 = 100 N/mm, K3 = K4 = 150 N/mm
and K5 = 200 N/mm. Assuming that the springs are connected to the rigid plates and wall,
determine (a) global stiffness matrix, (b) nodal displacements, (c) reaction forces and (d)
stresses in each spring using Penalty method considering length for each spring is 600 mm and
it is made of steel (E = 210GPa)?

K1

K3

K2

500 N
K4 K5

Figure 2.1: Spring system under axial force

Solution 1.2: Firstly, transform the spring model in figure 2.1 into a finite element model as
shown in figure 2.2. In this problem, it is assumed that there are five elements and four nodes.
For node 1, it is supposed that it has three nodes since these nodes shared a single plane or
similar line then we numbered as node 1. Similar assumption is used for nodes 2 and 4. Very
important for us to construct a table of connectivity as tabulated in table 2.1.

1 K1 2
(1)
K3 4
2
K2 (3)
1 2
(2) 4
500 N

1 K4 3 K5 4

(4) (5)

Figure 2.2: Finite element model of problem in figure 2.1

1
 Table 2.1: A table of connectivity of finite element model
Element Node i Node j Stiffness, k
1 1 2 100
2 1 2 100
3 2 4 150
4 1 3 150
5 3 4 200

Since the one-dimensional problem and subjected to an axial force, a standard stiffness matrix
as in equation (2.1) is used to determine the local stiffness matrix for each spring and stiffness
value, k is given and it is directly substitute into it.

AE  1 −1  1 −1
[K] =   =k  (2.1)
L  −1 1   −1 1 
Then, the local stiffness matrix for spring 1 to 5 are as below, respectively and please pay
attention on the specific locations of the stiffness matrixes and we combined all together.

 1 −1  100 −100  K11 − K12 

[K]1 = 100  = =  (2.2)
 −1 1   −100 100   − K 21 K 22 

 1 −1  100 −100  K11 − K12 

[K]2 = 100  = =  (2.3)
 −1 1   −100 100   − K 21 K 22 

 1 −1  150 −150  K 22 − K 24 

[K]3 = 150  = = K 44 
(2.4)
 −1 1   −150 150   − K 42

 1 −1  100 −100  K11 − K13 

[K]4 = 100  = = K33 
(2.5)
 −1 1   −100 100   − K13

 1 −1  200 −200  K33 − K34 

[K]5 = 200  = = K 44 
(2.6)
 −1 1   −200 200   − K 43

Now we have to local stiffness matrixes. Then, it is important for us to combine theses matrixes
to form a global matrix. But we do not know the actual dimension of matrix that we are going
to use. The dimension of such matrix can be determined as below:
Dimension of matrix, N= DOF per node x Number of nodes = 1 x 4 = 4 (2.7)
Dimension of global stiffness matrix, [K] = (N x N) = (4 x 4) (2.8)
Dimension of global force matrix, {f} = (N x 1) = (4 x 1) (2.9)
Dimension of global displacement matrix, {u} = (N x 1) = (4 x 1) (2.10)
Based on equation (2.8), the dimension of global stiffness matrix is (4 x 4).

2
  K11 K12 K13 K14 
K K 22 K 23 K 24 
[K] = [K]1 + [K]2 + [K]3 + [K]4 + [K]5 =  21 (2.11)
 K 31 K 32 K 33 K 34 
 
 K 41 K 42 K 43 K 44 

(a) Global stiffness matrix

 K11 K12 K13 K14   350 −200 −150 0 

K K 22 K 23  
K 24  −200 350 0 −150 
[K] =  21 =  (2.12)
 K 31 K 32 K 33 K 34   −150 0 350 −200 
   
 K 41 K 42 K 43 K 44   0 −150 −200 350 

To obtain the nodal displacement, a system of equation must be constructed as below:

[K]u =  f  (2.13)

Based on the Figure 2.2, node 1 is fixed to the rigid wall then u1 = 0 and other displacements (u2, u3 and
u4) remain unknown. On the other hand, there are no external force applied to the nodes except at a
node 4 then F1 = F2 = F3 = 0 and F4 = 500.

 F1   0 
F   0 
 f  =  2  =   (2.14)
 F3   0 
 F4  500 

 u1   0 
u  u 
u =  2  =  2  (2.15)
u3  u3 
u4  u4 

Substitute equations (2.12), (2.14) and (2.15) into (2.13):

 350 −200 −150 0 0   0 

 −200 350
 0 −150  u2   0 
 =  (2.16)
 −150 0 350 −200  u3   0 
 
 0 −150 −200 350  u4  500 

We will solve equation (2.16) using a Penalty method considering:

C = Max Kij 1020 (2.17)

Substitute the value of C as in equation (2.17) into the stiffness matrix (as in equation (2.16))
along the diagonal line especially at a location where the finite element model is constrained
and similar assumption goes for force vector as shown in equation (2.18).

3
350 + C −200 −150 0   0  0 + ( 0 ) C 
 
 −200
 350 0 −150  u2   0 
 =  (2.18)
 −150 0 350 −200  u3   0 
    
 0 −150 −200 350  4 
u 500

Once this is done, stiffness matrix containing a constant C must be inversed as below:

u = [K]−1  f  (2.19)

Please perform the stiffness matrix inversion by yourself but for the sake of simplification, the
inversed stiffness matrix is as below:

10−19 10−19 10−19 10 −19 

 −19 
10 3.93x10−3 1.43x10 −3 2.50x10 −3 
[K] =  −19
−1
(2.20)
10 1.43x10−3 4.76x10−3 3.33x10 −3 
 −19 
10 2.50x10−3 3.33x10 −3 5.83x10 −3 

Substitute equations (2.20) and (2.14) into (2.19) to yield:

 u1  10−19 10−19 10−19 10−19   0 

u   −19  
 2  10 3.93x10−3 1.43x10−3 2.50x10−3   0 
  =  −19   (2.21)
u3  10 1.43x10−3 4.76x10−3 3.33x10−3   0 
u4  10−19 
2.50x10−3 3.33x10−3 5.83x10−3  500 

(b) Nodal displacements

Solve equation (2.21) to have:

 u1   0 
u  1.25 
 2  
 =  (2.22)
u3  1.67 
u4  2.92 

Based on equation (2.22), it is found that the nodal displacement of u1, u2, u3 and u4 is 0.00,
1.25 mm, 1.67 mm and 2.92 mm, respectively.
Reaction forces can be determined using equation (2.23).

R =  K u −  F  (2.23)

 R1   350 −200 −150 0   u1   F1 

 R   −200 350 −150  u2   F2 
 2  0
  =  −  (2.24)
 R3
 −150 0 350 −200  u3   F3 

 R4   0 
−150 −200 350  u4   F4 

Substitute all known values of displacements and external forces into equation (2.24) to have:

4
  R1   350 −200 −150 0  0.00   0 
 R   −200 350 −150  1.25   0 
 2  0
 =  −  (2.25)
 R3   −150 0 350 −200 1.67   0 
 R4   0 
−150 −200 350  2.92 500

Solve equation (2.25) to yield:

 R1  −500.5
 R   1.0 
 2  
 =  (2.26)
 R3   2.5 
 R4   −3.0 

(c) Reaction forces

Based on equation (2.26), the reaction forces for R1, R2, R3 and R4 are -500.5 N, 1.0 N, 2.5 N
and -3.0 N, respectively.
(a) Elemental stresses
Equation (2.27) can be used to determine the element stress, e for each spring:

 e = E e e (2.27)

Elemental strain, e can also be expressed as in equation (2.28):

e
e = (2.28)
Le

Elemental elongation, e can be calculated using equation (2.29):

 e = u j − ui (2.29)

To facilitate the calculation, it is suggested to construct a table 2.2 as below:

Table 2.2: Elemental stresses for springs 1, 2, 3 and 4.
Nodal Length
Elemental Elemental
Node Node displacement of Elemental
Element elongation, stress, e
i j element, strain, e
ui uj e (N/mm2)
Le (mm)
1 1 2 0.00 1.25 1.25 600 0.002083333 437.5
2 1 2 0.00 1.25 1.25 600 0.002083333 437.5
3 2 4 1.25 2.91 1.66 600 0.002766667 581.0
4 1 3 0.00 1.67 1.67 600 0.002783333 584.5
5 3 4 1.67 2.91 1.24 600 0.002066667 434.0

Based on table 2.2, it is found that the stress for springs 1, 2, 3, 4 and 5 are 438 N/mm2, 438
N/mm2, 581 N/mm2, 585 N/mm2 and 434 N/mm2, respectively.