EMAE 415 Lectures

Finite Element Analysis -

Basic Concepts
Based in part on slides posted by
Dr. Ara Arabyan, University of Arizona;
Dr. Kenneth Youssefi, San Jose State University
Basics of Finite Element Analysis
FEA in Biomechanics
FEA models have proven to be powerful tools
in analyzing biomechanical structures and to
evaluate designs for implants, prostheses
and musculoskeletal constructs.
The advantages are the ability to account for
complex geometries and material behaviors.
Always remember, FEA is a numerical
technique. Its answers are only as good as
the formulation of the problem.
Basics of Finite Element Analysis
FEA is a mathematical representation of a
physical system and the solution of that
mathematical representation.

Always remember, FEA is a numerical
technique. Its answers are only as good as
the formulation of the problem.

GIGO (Garbage in-garbage out)
FEA Stress Analysis
After approximating the object by finite elements,
each node is associated with the unknowns to be
solved.
For a two dimensional solid (e.g. a beam) the
displacements in x and y would be the unknowns.
This implies that every node has two degrees of
freedom and the solution process has to solve 2n
degrees of freedom.
Once the displacements have been computed, the
strains are derived by partial derivatives of the
displacement function and then the stresses are
computed from the strains.

Finite Element Analysis
Consider the cantilever beam
shown.
Finite element analysis starts with an approximation of the region of
interest into a number of meshes (triangular elements). Each mesh is
connected to associated nodes (black dots) and thus becomes a finite
element.
Displacement Fields
The displacements of different points in
the structure set up a displacement field

The displacement field expresses the
displacement of any point in the
structure as a function of its position
measured in a reference frame
Strains versus Displacement Fields
(2-dimensional case)
Knowing the displacement fields allows you
to determine the strain fields.
Stiffness of a Uniform Rod
Recall from elementary mechanics of solids that a
uniform rod of length L, cross sectional area A, and
elasticity modulus E can modeled as a linear spring
of stiffness k
eq




with

P P

P P
A, E
L
eq
k
eq
AE
k
L
=
Nodal Displacements, Forces
Consider a linear spring of stiffness k. Let the
displacements of its two ends, called nodes, be
denoted by u
i
and u
j
, known as nodal displacements.
Let the forces acting at its two ends, called nodal
forces, be denoted by f
i
and f
j
.
i j
k
f
j
f
i
Nodes
y
x
u
j
u
i
Nodal
force
Nodal
displacement
Reference
frame
Force-Displacement Relations
The relationships between the nodal
forces and displacements (as shown
below) are given by:

( )
( )
i i j
j j i
f k u u
f k u u
=
=
k
f
j
f
i
u
j
u
i
Element Stiffness Matrix
These relations can be written in matrix
form as


or more briefly as

i i
j j
u f
k k
u f
k k

(
=
` `
(

) )
= ku f
Element Stiffness Matrix (contd)
In this relation


is known as the element stiffness matrix (always
symmetric);


is known as the element nodal displacement vector; and


k k
k k

(
=
(

k
i
j
u
u

=
`
)
u
Element Stiffness Matrix (contd)


is known as the element nodal force vector.

The element nodal displacements are also known as
element nodal degrees of freedom (DOF)
i
j
f
f

=
`
)
f
Singularity of Element Stiffness Matrix
The equation ku = f cannot be solved for the nodal
displacements for arbitrary f because the matrix
k is singular.
Physically this means that, in static equlibrium, the
displacements of the endpoints of a spring
cannot be determined uniquely for an arbitrary
pair of forces acting at its two ends.
One of the ends must be fixed or given a specified
displacement; the displacement of the other end
can then be determined uniquely.
Solution for Single Rod Element
If node i is fixed (i.e. its displacement is set to 0) then
ku = f reduces to

and the displacement of node j is easily determined as


which is the expected solution
j j
ku f =
j
j
f
u
k
=
k
f
j
u
j
u
i
=0
Matrix Reduction
Note that when a displacement or DOF is set
to zero, rows and columns of k associated
with that displacement are eliminated and
only the remaining set is solved
i i
j j
u f
k k
u f
k k

(
=
` `
(

) )
Row(s)
associated
with u
i
Column(s)
associated
with u
i
Multiple Elements
Now consider two springs of different stiffness linked
to each other
1
k
F
1
2
k
1
2

3

1
2
(1)
1 i
u u =
(1) (2)
2 j i
u u u = =
(2)
3 j
u u =
F
2
F
3
Globally
numbered nodes
Globally numbered
elements
Continuity Relations
When two elements are joined together the
joined nodes become one and must have the
same displacement


where the subscript denotes the global node
number, the superscript denotes the global
element number, and i and j denote local
element numbers
(1) (2)
2 j i
u u u = =
Force Balance Relations
The external nodal forces acting at each node must
equal the sum of the element nodal forces at all
nodes




where F
1
, F
2
, F
3
are external nodal forces numbered
globally

(1)
1
(1) (2)
2
(2)
3
i
j i
j
F f
F f f
F f
=
= +
=
Assembly of Equations
When these continuity and force balance relations
are imposed the resulting global equilibrium
equations are




More briefly this can be written as

1 1 1 1
1 1 2 2 2 2
2 2 3 3
0
0
k k u F
k k k k u F
k k u F

(

(
+ =
` `
(

(
) )
= KU F
Global Stiffness Matrix
In this relation




is known as the global stiffness matrix (always
symmetric);



is known as the global nodal displacement vector; and
1 1
1 1 2 2
2 2
0
0
k k
k k k k
k k

(
(
= +
(
(

K
1
2
3
u
u
u


=
`

)
U
Global Stiffness Matrix (contd)



is known as the global nodal force vector or the global
load vector

The global nodal displacements are also known as
global degrees of freedom (DOF)
1
2
3
F
F
F


=
`

)
F
Assembly of Global Stiffness Matrix
Note that the global stiffness matrix is assembled
from element matrices as follows
1 1
1 1 2 2
2 2
0
0
k k
k k k k
k k

(
(
= +
(
(

K
Stiffness matrix from
element
1
Stiffness matrix from
element
2
Stiffness terms from two
matrices add at coinciding
DOF
Singularity of Global Stiffness Matrix
As in the case of individual element matrices the
global stiffness matrix K is singular. (You can
check this out for this small example by calculating
the determinant of the matrix; the result will be
zero.)
Some nodes of the structure need to be constrained
(i.e. fixed or given known displacements) to make it
statically determinate or overconstrained. Then the
remaining DOF can be determined.
Constraining some nodes in the structure
corresponds to applying boundary conditions.

Solution for Global Structure
If node 1 is fixed (i.e. its displacement is set to 0)
then the equilibrium equations reduce to







1 2 2 2 2
2 2 3 3
k k k u F
k k u F
+
(
=
` `
(

) )
1
k
2
k
1
2

3

1
2
1
0 u =
2
u
3
u
F
2
F
3
Solution for Global Structure (contd)
The displacements of nodes 2 and 3 can now be
found from


It can be shown that constrained global stiffness
matrix is not singular
1
2 1 2 2 2
3 2 2 3
u k k k F
u k k F

+
(
=
` `
(

) )
Matrix Reduction
Note that when a DOF is set to zero rows and
columns of K associated with that DOF are
eliminated and only the remaining set is solved

1 1 1 1
1 1 2 2 2 2
2 2 3 3
0
0
k k u F
k k k k u F
k k u F

(

(
+ =
` `
(

(
) )
Row(s)
associated
with u
1
Column(s)
associated
with u
1
Rod Elements
The spring models introduced thus far
constitute one class of finite elements and are
known as rod, spar (ANSYS), or truss
(ALGOR) elements
In the form shown these elements can be
used to model only unidimensional (one
dimensional) problems
The more general form of these elements can
be used to model two or three dimensional
problems
Example
An aluminum (E = 10.4 10
6
psi) rod of variable
cross section is subjected to a point load of 1000 lb at
its narrower end. Determine the deflection of the rod
at its loaded end.
12 in

1000 lb

A
l
= 0.250 in
2
A
r
= 0.125 in
2
Example, contd.
The variable cross section rod can be approximated
as a number of rods of constant cross section. For
this example let us choose three rods of equal length
that span the length of the original rod.
1000 lb

4 in

4 in

4 in

A
1
A
2
A
3
Example, contd.
The cross-sectional area of each rod
can be assumed to be the average of
the segment each rod spans:

( )
( )
2
1
1
4 0.229 in
2 12
l r
l l
A A
A A A
| |
= + =
|
\ .
( )
( )
( )
( )
2
2
1
4 8 0.188 in
2 12 12
l r l r
l l
A A A A
A A A
| |
= + =
|
\ .
( )
( )
2
3
1
8 0.146 in
2 12
l r
l r
A A
A A A
| |
= + =
|
\ .
Example, contd.
The equivalent stiffness of each rod can now be
computed from


which results in

i i
i
i
AE
k
L
=
5
1
5
2
5
3
5.95 10 lb/in
4.89 10 lb/in
3.80 10 lb/in
k
k
k
=
=
=
Example, contd.
The spring (finite element) model of the problem is
now
1000 lb

1
k
2
k
1
2

3

1
2
1
0 u =
2
u
3
u
4
u
4

3
k
3
Example, contd.
The equilibrium equations can now be written as:
1 1 1 1
1 1 2 2 2
2 2 3 3 3
3 3 4
0 0
0 0
0 0
0 0 1000
k k u R
k k k k u
k k k k u
k k u

(
(
+

(
=
` `
+ (

(

) )
Row and column
associated with
u
1
Example, contd.
Solving the remaining equations we obtain





Since the deflection of the right end is required the
answer to the problem is

1
2
5 3
3
4
10.84 4.89 0 0 1.68
10 4.89 8.69 3.80 0 3.73 10 in
0 3.80 3.80 1000 6.36
u
u
u

(

(
= =
` ` `
(

(
) ) )
3
4
6.36 10 in
r
u u

= =
Comparison with Exact Results
Using exact analytical methods the displacement of
any point (u(x)) on the rod is given by

( )
( )
ln
l
l r
l r
l
A PL
u x
A A
E A A
A x
L
| |
|
=
|

|
\ .
( ) u x
x

1000 lb

Using this expression the displacement of the three
nodes in the finite element model can be computed
as




Evidently the results from the finite element method
are very close to those produced by exact methods
Comparison with Exact Results (contd)
( )
( )
( )
3
3
3
4 1.68 10 in
8 3.74 10 in
12 6.40 10 in
u
u
u

=
=
=
Comparison with Exact Results (contd)
The plot below charts the variation of displacements
across the bar for the two solutions
0 2 4 6 8 10 12
0
1
2
3
4
5
6
7
x 10
-3
x (in)
D
i
s
p
l
a
c
e
m
e
n
t

(
i
n
)
Exact solution
FE solution
u1
u2
u3
Formulation of the Finite Element Method
f
B
Body forces (forces distributed over the volume of the body;
gravitational, inertia, or magnetic forces)
f
S
surface forces (pressure of one body on another, or hydrostatic
pressure)
f
i
Concentrated external forces
Formulation of the Finite Element Method
Denote the displacements of any point (X, Y, Z) of the object from
the unloaded configuration as U
T

The displacement U causes the strains
and the corresponding stresses
The goal is to calculate displacement, strains, and stresses from
the given external forces.
Example a plate under load
Derive and solve the system equations of a plate loaded as
shown.Plate thickness is 1 cm and the applied load P
y
is
constant.
using two triangular elements,
Example, contd
Displacement within the triangular element with three
nodes can be assumed to be linear.
Example, contd
Displacement for each node,
Example, contd
Solve the equations simultaneously for and ,
Example, contd
Substitute x
1
= 0, y
1
= 0, x
2
=10, y
2
= 0, x
3
= 0, y
3
=4 to
obtain displacements u and v for element 1,
Element 1
Example, contd
Rewriting the equations in the matrix form,
Example, contd
Similarly the displacements within element 2 can be
expresses as
Example, contd
The next step is to determine the strains using 2D
strain-displacement relations,
Example, contd
Differentiate the displacement equation
to obtain the strain,
Example, contd
Element 2
Example, contd
Using the stress-strain relations for homogeneous,
isotropic
plane-stress, we have
Formulation of the Finite Element Method
Equilibrium condition and principle of virtual displacements
The left side represents the internal virtual work done and the
right side represents the external work done by the actual
forces as they go through the virtual displacement.

The above equation is used to generate finite element
equations. And by approximating the object as an assemblage
of discrete finite elements, these elements are interconnected
at nodal points.
Formulation of the Finite Element Method
The equilibrium equation can be expressed using matrix
notations for m elements.
where
B
(m)
represents the rows of the strain displacement matrix
C
(m)
is the elasticity matrix of element m
H
(m)
is the displacement interpolation matrix
U is a vector of the three global displacement components at
all nodes
F is a vector of the external concentrated forces applied to
the nodes
Formulation of the Finite Element Method
The previous equation can be rewritten as follows,
The above equation describes the static equilibrium problem. K is the stiffness matrix.
Stiffness matrix for element 1
Example, contd
Calculating the stiffness matrix for element 2.
Example, contd
The stiffness of the structure as a whole is obtained by combing
the two matrices.
Example, contd
The load vector R, equals R
c
because only concentrated
loads act on the nodes
where P
y
is the known external force and F
1x
, F
1y
, F
3x
, and F
3y

are the unknown reaction forces at the supports.
Example, contd
The following matrix equation can be solved for nodal point
displacements
Example, contd
The solution can be obtained by applying the boundary conditions
Example, contd
The equation can be divided into two parts,
The first equation can be solved for the unknown nodal
displacements, U
3
, U
4
, U
7
, and U
8
. And substituting these
values into the second equation to obtain unknown reaction
forces, F
1x
, F
1y
, F
3x
, and F
3y
.
Once the nodal displacements have been obtained, the
strains and stresses can be calculated.
Finite Element Analysis
FEA involves three major steps
Pre-Processing
Solving Matrix (solver)
Post-Processing
Summary of Pre-Processing
Build the geometry
Make the finite-element mesh
Add boundary conditions; loads and
constraints
Provide properties of material
Specify analysis type (static or dynamic,
linear or non-linear, plane stress, etc.)
FEA Pre-Processing
Mesh Development
The FEA mesh is your way of communicating
geometry to the solver, the accuracy of the solution
is primarily dependent on the quality of the mesh.
The better the mesh looks, the better it is.
A good-looking mesh should have well-shaped
elements, and the transition between densities
should be smooth and gradual without skinny,
distorted elements.

FEA Pre-Processing - Example
Coarse mesh Refined mesh - better?probably
depends on the loading and
boundary conditions

FEA Pre-Processing
Finite elements supported by most finite-element codes:
FEA Pre-Processing
Material Properties
Material properties can be specified for element regions,
elements or even within elements in most large-scale FEA
codes.
The material properties required for an isotropic, linear
static FEA are: Youngs modulus (E), Poissons ratio (v),
and shear modulus (G).
G = E / 2(1+v)
Only two of the three properties can be specified
independently.
FEA Pre-Processing
Nonlinear Material Properties
A multi-linear model requires the input of stress-strain
data pairs to essentially communicate the stress-strain
curve from testing to the FE model
Highly deformable, low stiffness, incompressible materials,
such as rubber and other synthetic elastomers require
distortional and volumetric constants or a more complete set
of tensile, compressive, and shear force versus stretch curve.
A creep analysis requires time and temperature
dependent creep properties. Plastic parts are extremely
sensitive to this phenomenon
FEA Pre-Processing
Boundary Conditions
In FEA, the name of the game is boundary
condition, that is calculating the load and
constraints that each component experiences in its
working environment.
The results of FEA should include a complete
discussion of the boundary conditions
Boundary Conditions
Loads
Loads are used to represent inputs to the system.
They can be in the forms of forces, moments,
pressures, temperature, or accelerations.
Constraints
Constraints are used as reactions to the applied
loads. Constraints can resist translational or
rotational deformation induced by applied loads.
Boundary Conditions
Degrees of Freedom
Spatial DOFs refer to the three translational and three rotational
modes of displacement that are possible for any part in 3D
space. A constraint scheme must remove all six DOFs for the
analysis to run.
Elemental DOFs refer to the ability of each element to transmit
or react to a load. The boundary condition cannot load or
constrain a DOF that is not supported by the element to which it
is applied.
Post-Processing
View Animated
Displacements
View Displacement
Fringe Plot
View Stress
Fringe Plot
View Results Specific
To the Analysis
Review Boundary
Conditions
Review Load Magnitudes
and Units
Review Mesh Density
and Quality of Elements
Does the shape of deformations make sense?
Are magnitudes in line with your expectations?
Is the quality and mag. Of stresses acceptable?
Yes
Yes
No
No
No
Yes