Finite Element Method - Bar Elements
Finite Element Method - Bar Elements
Most structural analysis problems can be treated as linear static problems, based on the
following assumptions:
1. Small deformations (loading pattern is not changed due to the deformed shape)
3. Static loads (the load is applied to the structure in a slow or steady fashion)
Linear analysis can provide most of the information about the behavior of a structure, and can
be a good approximation for many analyses. It is also the bases of nonlinear analysis in most of
the cases.
L: length
A: cross-sectional area
E: elastic modulus
𝑢 = 𝑢(𝑥) displacement
𝜀 = 𝜀(𝑥) strain
𝜎 = 𝜎(𝑥) stress
𝑑𝑢
Strain-displacement relation: 𝜀 = (1)
𝑑𝑥
Assuming that the displacement u is varying linearly along the axis of the bar, i.e.:
𝑥 𝑥
𝑢 𝑥 = 1− 𝑢𝑖 + 𝑢𝑗 (3)
𝐿 𝐿
𝑢𝑗 −𝑢𝑖 ∆
we have: 𝜀 = = (∆ = elongation) (4)
𝐿 𝐿
𝐸∆
𝜎 = 𝐸𝜀 = (5)
𝐿
𝐹
We also have: 𝜎 = (𝐹 = force in bar) (6)
𝐴
𝐸𝐴
Thus, (5) and (6) lead to: 𝐹 = ∆ = 𝑘∆ (7)
𝐿
𝐸𝐴
Where 𝑘 = is the stiffness of the bar.
𝐿
The bar is acting like a spring in this case and we conclude that element stiffness matrix is:
𝐸𝐴 𝐸𝐴
𝑘 −𝑘 − 𝐸𝐴 1 −1
𝐿 𝐿
k= = 𝐸𝐴 𝐸𝐴 = (8)
−𝑘 𝑘 − 𝐿 −1 1
𝐿 𝐿
This can be verified by considering the equilibrium of the forces at the two nodes.
𝐸𝐴 1 −1 𝑢𝑖 𝑓𝑖
Element equilibrium equation is: = (9)
𝐿 −1 1 𝑢𝑗 𝑓𝑗
The 𝑗 th column of k (here j = 1 or 2) represents the forces applied to the bar to maintain a deformed shape
with unit displacement at node j and zero displacement at the other node.
We derive the same stiffness matrix for the bar using a formal approach which can be applied to many other
more complicated situations.
𝑁𝑖 𝜉 = 1 − 𝜉 , 𝑁𝑗 𝜉 = 𝜉 (10)
𝑥
Where: 𝜉 = , 0≤𝜉≤1 (11)
𝐿
𝑢
𝑢 𝑥 = 𝑢 𝜉 = 𝑁𝑖 𝜉 𝑢𝑖 + 𝑁𝑗 𝜉 𝑢𝑗 = 𝑁𝑖 𝑁𝑗 𝑢𝑖 = 𝑁𝑢 (12)
𝑗
𝑑𝑢 𝑑
Strain is given by (1) and (12) as: 𝜀 = = 𝑁 u = Bu (13)
𝑑𝑥 𝑑𝑥
𝜎 = 𝐸𝜀 = 𝐸Bu (15)
1 1 1
𝑈= 𝜎 𝑇 𝜀𝑑𝑉 = (u𝑇 B𝑇 𝐸Bu)𝑑𝑉 = u𝑇 (B𝑇 𝐸B)𝑑𝑉 u (16)
2 𝑉 2 𝑉 2 𝑉
1 1 1
The work done by the two nodal forces is: 𝑊 = 𝑓𝑖 𝑢𝑖 + 𝑓𝑗 𝑢𝑗 = u𝑇 f (17)
2 2 2
1 1
which gives: u𝑇 𝑉
(B 𝑇
𝐸B)𝑑𝑉 u = u 𝑇
f
2 2
Expression (20) is a general result which can be used for the construction of other types of elements. This
expression can also be derived using other more rigorous approaches, such as the Principle of Minimum
Potential Energy, or the Galerkin’s Method.
𝐿 −1/𝐿 𝐸𝐴 1 −1
k= 𝐸 −1/𝐿 1/𝐿 𝐴𝑑𝑥 =
0 1/𝐿 𝐿 −1 1
Note that from (16) and (20), the strain energy in the element can be written as:
1
𝑈 = u𝑇 ku (21)
2
Example 1
Problem: Find the stresses in the two bar assembly which is loaded with force P, and constrained
at the two ends, as shown in the figure.
Solution 1
𝑢1 𝑢2
2𝐸𝐴
Element 1: k1 = 1 −1
𝐿
−1 1
𝑢2 𝑢3
𝐸𝐴
Element 2: k2 = 1 −1
𝐿
−1 1
Imagine a frictionless pin at node 2, which connects the two elements. We can assemble the
global FE equation as follows :
𝐸𝐴 2 −2 0 𝑢1 𝐹1
−2 3 −1 𝑢2 = 𝐹2
𝐿
0 −1 1 𝑢3 𝐹3
Solution 1
2 −2 0 0 𝐹1
𝐸𝐴
FE equation becomes : 𝐿 −2 3 −1 𝑢2 = 𝑃
0 −1 1 0 𝐹3
Deleting the 1st row and column, and the 3rd row and column, we obtain :
𝐸𝐴
3 𝑢2 = 𝑃
𝐿
𝑢1 0
𝑃𝐿 𝑃𝐿
Thus: 𝑢2 = 3𝐸𝐴 and 𝑢2 = 1
3𝐸𝐴
𝑢3 0
Solution 1
Stress in element 1 is :
𝑢 𝑢2 − 𝑢1 𝐸 𝑃𝐿 𝑃
𝜎1 = 𝐸𝜀1 = 𝐸B1 u1 = 𝐸 −1/𝐿 1/𝐿 𝑢1 = 𝐸 = −0 =
2 𝐿 𝐿 3𝐸𝐴 3𝐴
𝑢 𝑢3 − 𝑢2 𝐸 𝑃𝐿 𝑃
𝜎2 = 𝐸𝜀2 = 𝐸B2 u2 = 𝐸 −1/𝐿 1/𝐿 𝑢2 = 𝐸 = 0− =−
3 𝐿 𝐿 3𝐸𝐴 3𝐴
Solution 1
Notes:
1. In this case, the calculated stresses in elements 1 and 2 are exact within the linear theory for
1-D bar structures. It will not help if we further divide element 1 or 2 into smaller finite
elements.
2. For tapered bars, averaged values of the cross-sectional areas should be used for the
elements.
3. We need to find the displacements first in order to find the stresses, since we are using the
displacement based FEM.
Example 2
Problem: Determine the support reaction forces at the two ends of the bar shown above, given
the following :
Solution 2
We first check to see if or not the contact of the bar with the wall on the right will occur. To do
this, we imagine the wall on the right is removed and calculate the displacement at the right
end:
𝑃𝐿 (6 × 104 )(150)
∆0 = = = 1,8 mm
𝐸𝐴 (2 × 104 )(250)
1 −1 0 𝑢1 𝐹1
𝐸𝐴
The global FE equation is found to be : 𝐿 −1 2 −1 𝑢2 = 𝐹2
0 −1 1 𝑢3 𝐹3
Solution 2
1 −1 0 0 𝐹1
𝐸𝐴
FE equation becomes :
𝐿
−1 2 −1 𝑢2 = 𝑃
0 −1 1 ∆ 𝐹3
𝐸𝐴 𝑢2
The 2nd equation gives : 2 −1 = 𝑃
𝐿 ∆
𝐸𝐴 𝐸𝐴
That is : 𝐿
2 𝑢2 = 𝑃 + 𝐿 ∆
𝑢1 0
1 𝑃𝐿
Solving this, we obtain : 𝑢2 = + ∆ = 1,5 mm and 𝑢2 = 1,5 mm
2 𝐸𝐴
𝑢3 1,2
To calculate the support reaction forces, we apply the 1st and 3rd equations in the global FE
equation.
FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #17
Examples
Solution 2
𝑢1
𝐸𝐴 𝐸𝐴
𝐹1 = 1 −1 0 𝑢2 = −𝑢2 = −5 × 104 𝑁
𝐿 𝑢3 𝐿
𝑢1
𝐸𝐴 𝐸𝐴
𝐹3 = 0 −1 1 𝑢2 = −𝑢2 + 𝑢3 = −1 × 104 𝑁
𝐿 𝑢3 𝐿
Uniformly distributed axial load q (N/mm, N/m) can be converted to two equivalent nodal forces of
magnitude qL/2.We verify this by considering the work done by the load q :
𝐿 1 1 1
1 1 𝑞𝐿 𝑞𝐿 𝑢𝑖
𝑊𝑞 = 𝑢𝑞𝑑𝑥 = 𝑢 𝜉 𝑞(𝐿𝑑𝜉) = 𝑢 𝜉 𝑑𝜉 = 𝑁𝑖 𝜉 𝑁𝑗 𝜉 𝑢𝑗 𝑑𝜉
2 2 2 2
0 0 0 0
1
𝑞𝐿 𝑢𝑖 1 𝑞𝐿 𝑞𝐿 𝑢𝑖 1
= 1−𝜉 𝜉 𝑑𝜉 𝑢 = = 𝑢𝑖 𝑢𝑗 𝑞𝐿/2
2 𝑗 2 2 2 𝑢𝑗 2 𝑞𝐿/2
0
1 𝑞𝐿/2
That is: 𝑊𝑞 = u𝑇 f 𝑞 with f 𝑞 = (22)
2 𝑞𝐿/2
1 𝑇 1 1
u ku = u𝑇 f + u𝑇 f 𝑞 (23)
2 2 2
𝑓𝑖 + 𝑞𝐿/2
The new nodal force vector is : f + f 𝑞 =
𝑓𝑗 + 𝑞𝐿/2
In an assembly of bars :
Local Global
𝑥, 𝑦 X,Y
𝑢𝑖′ , 𝑣𝑖′ 𝑢𝑖 , 𝑣𝑖
1 dof at a node 2 dof at a node
Note: Lateral displacement 𝑣𝑖′ does not contribute to the stretch of the bar, within the linear theory.
Transformation:
𝑢𝑖
𝑢𝑖′ = 𝑢𝑖 cos 𝜃 + 𝑣𝑖 sin 𝜃 = 𝑙 𝑚 𝑣
𝑖
𝑢𝑖
𝑣𝑖′ = −𝑢𝑖 sin 𝜃 + 𝑣𝑖 cos 𝜃 = −𝑚 𝑙 𝑣 where 𝑙 = cos 𝜃 , 𝑚 = sin 𝜃
𝑖
𝑢𝑖′ 𝑙 𝑚 𝑢𝑖
In matrix form: ′ = (26)
𝑣𝑖 −𝑚 𝑙 𝑣𝑖
𝑙 𝑚
Or 𝑢𝑖′ = 𝑇𝑢𝑖 where the transformation matrix 𝑇 = (27)
−𝑚 𝑙
is orthogonal, that is : 𝑇 −1 = 𝑇 𝑇
𝑢𝑖′ 𝑙 𝑚 0 0 𝑢𝑖
𝑣𝑖′ −𝑚 𝑙 0 0 𝑣𝑖
For the two nodes of the bar element, we have: ′ = 𝑢𝑗 (28)
𝑢𝑗 0 0 𝑙 𝑚
𝑣𝑗′ 0 0 −𝑚 𝑙 𝑣𝑗
Or u′ = 𝑇u with 𝑇 = 𝑇 0 (29)
0 𝑇
𝐸𝐴 1 −1 𝑢𝑖′ 𝑓𝑖′
In the local coordinate system, we have: = ′
𝐿 −1 1 𝑢𝑗′ 𝑓𝑗
1 0 −1 0 𝑢𝑖′ 𝑓𝑖′
𝐸𝐴 0 0 0 0 𝑣𝑖′ 0
Augmenting this equation, we write: = or k′ u′ = f′
𝐿 −1 0 1 0 𝑢𝑗′ 𝑓𝑗′
0 0 0 0 𝑣𝑗′ 0
Thus, the element stiffness matrix k in the global coordinate system is: k = 𝑇 𝑇 k′ 𝑇 (32)
Explicit form:
𝑢𝑖 𝑣𝑖 𝑢𝑗 𝑣𝑗
𝐸𝐴
𝑙2 𝑙𝑚 −𝑙2 −𝑙𝑚
k= 𝑙𝑚 𝑚2 −𝑙𝑚 −𝑚2 (33)
𝐿
−𝑙2 −𝑙𝑚 𝑙2 𝑙𝑚
−𝑙𝑚 −𝑚 2 𝑙𝑚 𝑚2
𝑋𝑗 −𝑋𝑖 𝑌𝑗 −𝑌𝑖
𝑙 = cos 𝜃 = ; 𝑚 = sin 𝜃 = (34)
𝐿 𝐿
The structure stiffness matrix is assembled by using the element stiffness matrices in the usual way as in the
1D case.
𝑢𝑖
𝑢𝑖′ 1 1 𝑙 𝑚 0 0 𝑣𝑖
𝜎 = 𝐸𝜀 = 𝐸B =𝐸 − − 𝑢𝑗
𝑢𝑗′ 𝐿 𝐿 0 0 𝑙 𝑚
𝑣𝑗
𝑢𝑖
𝐸 𝑣𝑖
That is: 𝜎 = −𝑙 −𝑚 𝑙 𝑚 𝑢𝑗 (35)
𝐿
𝑣𝑗
Example 3
A simple plane truss is made of two identical bars (with E, A, and L), and loaded as shown in
the figure. Find:
1. displacement of node 2.
Solution 3
This simple structure is used here to demonstrate the assembly and solution process using the
bar element in 2D space.
𝐸𝐴 1 −1
k1′ = = k′2
𝐿 −1 1
These two matrices cannot be assembled together, because they are in different coordinate
systems. We need to convert them to global coordinate system OXY.
√2
Element 1: 𝜃 = 45° ; 𝑙 = 𝑚 = 2
Using formula (32) or (33), we obtain the stiffness matrix in the global system
Solution 3
𝑢1 𝑣1 𝑢2 𝑣2
𝑇 ′
𝐸𝐴 1 1 −1 −1
k1 = 𝑇1 k1 𝑇1 = 1 1 −1 −1
2𝐿 −1 −1 1 1
−1 −1 1 1
√2 √2
Element 2: 𝜃 = 135° ; 𝑙 = − ;𝑚 =
2 2
𝑢2 𝑣2 𝑢3 𝑣3
1 −1 −1 1
𝐸𝐴
We have : k2 = 𝑇2𝑇 k′2 𝑇2 = −1 1 1 −1
2𝐿
−1 1 1 −1
1 −1 −1 1
Solution 3
𝑢1 𝑣1 𝑢2 𝑣2 𝑢3 𝑣3
1 1 −1 −1 0 0 𝑢1 𝐹1𝑋
1 1 −1 −1 0 0 𝑣1 𝐹1𝑌
𝐸𝐴 𝑢2
−1 −1 2 0 −1 1 𝐹
2𝐿
𝑣2 = 2𝑋
−1 −1 0 2 1 −1 𝐹2𝑌
0 0 −1 1 1 −1 𝑢3 𝐹3𝑋
0 0 1 −1 −1 1 𝑣3 𝐹3𝑌
𝐸𝐴 2 0 𝑢2 𝑃1
Condensed FE equation: 2𝐿 =
0 2 𝑣2 𝑃2
Solution 3
𝑢2 𝐿 𝑃1
𝑣2 =
𝐸𝐴 𝑃2
𝑃1
𝐸 √2 𝐿 𝑃2 2
𝜎2 = 1 −1 −1 1 = (𝑃 − 𝑃2 )
𝐿 2 𝐸𝐴 0 2𝐴 1
0
Solution 4
We have an inclined roller at node 3, which needs special attention in the FE solution. We first
assemble the global FE equation for the truss.
Element 1: 𝜃 = 90° ;𝑙 = 0 ; 𝑚 = 1
𝑢1 𝑣1 𝑢2 𝑣2
0 0 0 0
(210×109 )(6×10−4 )
k1 = 0 1 0 −1 (N/m)
1
0 0 0 0
0 −1 0 1
Element 2: 𝜃 = 0° ;𝑙 = 1 ; 𝑚 = 0
𝑢2 𝑣2 𝑢3 𝑣3
1 0 −1 0
(210×109 )(6×10−4 )
k2 = 0 0 0 0 (N/m)
1
−1 0 1 0
0 0 0 0
Solution 4
1 1
Element 3: 𝜃 = 45° ;𝑙 = √2 ; 𝑚 = √2
𝑢1 𝑣1 𝑢3 𝑣3
0,5 0,5 −0,5 −0,5
(210×109 )(6√2×10−4 )
k1 = 0,5 0,5 −0,5 −0,5 (N/m)
√2
−0,5 −0,5 0,5 0,5
−0,5 −0,5 0,5 0,5
Solution 4
From the transformation relation and the BC, we have:
√2 √2 𝑢3 2
𝑣3′ = − 𝑣 = −𝑢3 + 𝑣3 = 0
2 2 3 2
That is: 𝑢3 − 𝑣3 = 0
This is a multipoint constraint (MPC).
Similarly, we have a relation for the force at node 3:
√2 √2 𝐹3𝑋 2
𝐹3𝑥 ′ = = 𝐹3𝑋 + 𝐹3𝑌 = 0
2 2 𝐹3𝑌 2
That is:𝐹3𝑋 + 𝐹3𝑌 = 0
Applying the load and BC’s in the structure FE equation by deleting 1st , 2nd and 4th rows and
columns, we have:
Solution 4
1 −1 0 𝑢2 𝑃
1260 × 105 −1 1,5 0,5 𝑢3 = 𝐹3𝑋
0 0,5 0,5 𝑣3 𝐹3𝑌
Further, from the MPC and the force relation at node 3, the equation becomes:
1 −1 0 𝑢2 𝑃
1260 × 105 −1 1,5 0,5 𝑢3 = 𝐹3𝑋
0 0,5 0,5 𝑢3 −𝐹3𝑋
1 −1 𝑢 𝑃
2
which is: 1260 × 105 −1 2 𝑢 = 𝐹3𝑋
3
0 1 −𝐹3𝑋
The 3rd equation yields: 𝐹3𝑋 = −1260 × 105 𝑢3
Solution 4
Solving this, we obtain the displacements:
𝑢2 1 3𝑃 0,01191
𝑢3 = = (m)
2520×105 𝑃 0,003968
From the global FE equation, we can calculate the reaction forces:
𝐹1𝑋 0 −0,5 −0,5 −500
𝐹1𝑌 0 −0,5 −0,5 𝑢2 −500
𝐹2𝑋 = 1260 × 105 0 0 0 𝑢3 = 0 (kN)
𝐹2𝑌 −1 1,5 0,5 𝑣3 −500
𝐹3𝑋 0 0,5 0,5 500
Local Global
𝑥, 𝑦, 𝑧 X,Y, Z
𝑢𝑖′ , 𝑣𝑖′ , 𝑤𝑖′ 𝑢𝑖 , 𝑣𝑖 , 𝑤𝑖
1 ddf at a node 3 dof at a node
Element stiffness matrices are calculated in the local coordinate systems and then transformed into the
global coordinate system (X,Y, Z) where they are assembled.