AME2503

PEMP
AME2503
2D and
d 3D El
Elements
t
Session delivered by:
Dr Vinod K
Dr.
K. Banthia
M.S. Ramaiah School of Advanced Studies, Bengaluru
PEMP
AME2503
Session Objectives
At the end of this session the delegate would have
understood the
Illustrate the difference of capabilities of linear and
quadratic
d i 1-D
1 D elements
l
through
h
h examples
l
Idealisation of 3D structures as 2D structures
Formulation of 2D and 3D elements
The need and formulation of structural (beams and
shell) elements
PEMP
AME2503
Session Topics
p
1. Plane stress, Plane strain and axisymmetric idealisation and
limitations
2. 2-D element shapes
3. Triangular coordinates and formulation of triangular element
li
linear
andd quadratic
d ti
4. Formulation of quadrilateral elements
5. Impact of Jacobian and element quality
6. Formulation of 3-D elements
7. Need for elements with built in bending characteristics
8 Formulation of beam element
8.
9. Extension of 1-D beam element to shell element
PEMP
2-D Elements (Summary)
AME2503
Applicability:
Dimensionality:
Solid Mechanics
Heat
H t Transfer
T
f
Flow
2-D
Element Shape:
Triangles
Quadrilaterals
Material Law:
Hookes Law (Linear Elastic)
Nodal Degrees of Freedom:
Translation along x and y directions
PEMP
2-D Elements (Application)
AME2503
PEMP
2-D Elements (Plane Stress)
AME2503
C
Category
1:
1
The body is flat and has symmetry about its mid-plane
The thickness dimension of the body is much smaller than the
other two linear dimensions
The
Th component/plate
/ l is
i thin
hi enoughh suchh that
h there
h is
i no
variation of displacement with respect to thickness direction
z being the thickness direction of the body,
body predominant
stresses in the body are in its plane, namely x,y,xy.
Normal stress and S
Shear stresses directed pperpendicular
p
to
the plane of the body (z, xz,yz) are assumed to be zero.
PLANE STRESS
PEMP
AME2503
xy
y
xy
xy
x
dy
dx
xy
y
Two-dimensional State of Stress
PEMP

x

y

xy
E
1
0
1 2
1
0 0
x

y

xy
AME2503
x
v
y
u v
y x
z xz yz 0
xz yz 0
x y
z
1
PEMP
2-D Elements (Plane Strain)
AME2503
Category 2:
The longitudinal
g
dimension of the bodyy is much larger
g than
the other two linear dimensions
The body is not loaded in the longitudinal direction and
the loads in x-y plane do not vary along z direction
With no gradient of displacement in the longitudinal
direction all strains involving that direction (z, xz,yz) are
direction,
zero
PLANE STRAIN
PEMP
2-D Elements (Plane Strain)
x
1
E

1
y
(1 )(1 2 ) 0
0
xyy
AME2503

0 x

0
y
1 2
xyy
2
z xz yz 0
E
x y
z
(1 )(1 2 )
10
PEMP
AME2503
Plane Stress
Plane Strain
Z dim << X,Y dim
Z dim >> X,Y dim
Loading
zz << xxyyxy
xxyyxy , /z =0
Resulting
Assumption
Pi
Primary
V i bl
Variable
xz = yz = zz = 0
xz = yz = zz = 0
zz, uz
zz
Eliminate 33 by
expressing in terms
of xx and yy
Eliminate 33 by
expressing in terms
of xx and yy
Geometryy
Secondary Variable
Note
11
PEMP

Plane Stress?
Plane Strain?
AME2503
3D?
Loading
Geometry
Material Response
Issue of scale
How good an answer is required
What are we looking for
12
PEMP
2-D Elements (Axisymmetric)
AME2503
What are Axi-symmetric structures?

(Z)
(R)
()
13
PEMP
AME2503
r+ r R
No Displacement in direction
AXI-SYMMETRIC
Onlyy shaded area in X-Z

plane to be analysed
14
PEMP
AME2503
Stress Strain Relationship:
D1
u

r
D2
P1 D1
P2 D2
P ( D2 D1 )
P1
D1
u
r
r v

z z
u v
rz
z r
u
r
r

z

rz

15
PEMP
r

z

rz

E (1 ) 1
(1 )(1 2 ) 0
1 2
2(1 )
AME2503

1
r

1 z
0 rz

16
PEMP
2-D Elements (Element Geometry)
AME2503
How to proceed?
17
PEMP
AME2503
2-D Triangular Elements (Natural Coordinates)

A1
A2
1
1
A2
A1
A3
A3

A
A = A 1 + A2 + A3
X
1 1

x x1
y y
1
2 A23

1
2 A31

2 A 2 A

12
1
x2
y2
y23
y31
y12
1

x3
y3
x32 1

x13 x
x21 y
18
PEMP
AME2503
2-D Triangular Elements (Natural Coordinates)
3 = 1
= 0.75
= 0.5
= 0.25
0 25
= 0
2
1
19
PEMP
AME2503
2-D Linear Triangular Elements (Formulation)

Y
v3
3
x x1 x2 x3
y y1 y2 y3
u3
x x13 x23 x3
y y13 y23 y3
v2
v1
1
u1
where
u2
xij xi x j
yij yi y j
u N1u1 N 2u 2 N 3u3 u1 u 2 u3
v N1v1 N 2 v2 N 3v3 v1 v2 v3
20
PEMP
AME2503

Strain Displacement Relationship:
u
v
u v (in physical space)
xx
yy
xy
x
y
y x
Needd to find
fi d strains
i in
i naturall Coordinate
di
system
u u x u y
x y
u u x u y
x y
u x

u x

x
x1/ 2 / 3
( / / )
2A
y u
u
x
x
u J u
y

y
y
( / / )
y23 / 31/12
x
2A
( / / )
x32 /13 / 21
y
21
PEMP
AME2503

u
u

x
1
1
u J u
det J

y

y23
x
32
y31 u1 u3
x13 u2 u3
det J ( x1 x3 )( y2 y3 ) ( x2 x3 )( y1 y3 ) 2 A
Si il l
Similarly,
v
v

x
1
1
v J v

det J
y

y23
x
32
v
y31
v
x13

22
PEMP
AME2503

x

y

xy
x
1
v

y det J
u v
y x
y23
1
0
2A
x32
0
x32
y23
y31
0
x13
y23 (u1 u3 ) y13 (u2 u3 )
x23 (v1 v3 ) x13 (v2 v3 )

x u x u y v y v
23 13
13 23
23 13 13 23
0
x31
y31
y12
0
x21
u1
v
0 1
u2
x21
v2
y12
u3

v3
B q
23
PEMP
AME2503

C i t t Load
Consistent
L d vector
t (Body
(B d Force)
F
)
RBe N FB dVe
T
Bx
FB
By
Ve
1
i! j! k !
i k l
dA
e
2 A Ae
(i j k 2)!
dVe tdAe
i 0, j 0, k 0
Bx
0
B
0
y
0 Bx
tA Bx
RBe
tdAe
0 By
3 By
Ae
0
Bx

B y
0
Uniform thickness
Uniform body force
Straight sided triangle
RT N T Ti dS e
e
Se
24
PEMP
AME2503
2-D Linear Triangular Elements (Characteristics)

Displacement variation over element assumed Linear
Strain over the element will be Constant
Stress over the element will be Constant
Displacement continuity along edges and over the element
is satisfied
Equilibrium along the edges will not be satisfied, except for
a trivial
t i i l uniform
if
stress
t
field
fi ld
25
PEMP
AME2503
2-D Quadratic Triangular Elements (Formulation)

Y
x N i xi
v3
i 1
u3
v5
v6
6
i 1
u5
v2
v4
u1
u N i ui
u6
v1
1
u4
q u1
u2
y N i yi
i 1
v N i vi
i 1
v1 ........ u6 v6
N1 (2 1)
N 2 (2 1)
N 3 (2 1)
N 4 4
N 5 4
N 6 4
26
PEMP
AME2503
2-D Quadratic Triangular Elements (Characteristics)

Displacement variation over element assumed Quadratic
Strain variation over element will be Linear
Stress variation over element will be Linear
Displacement continuity along edges and over the element
i satisfied
is
ti fi d
27
PEMP
AME2503
2-D Linear Quadrilateral Elements (Formulation)

Y
v3
v4
3
(-1,1)
u3
(1,1)
u4
(0,0)
v2
v1
1
u1
4
2
4
x N i xi
y N i yi
u N i ui
v N i vi
i 1
4
i 1
( 1 1)
(-1,-1)
u2
i 1
4
(1 1)
(1,-1)
q u1
v1 ........ u4 v4
i 1
28
PEMP
AME2503

1
N1 1 1
4
1
N 3 1 1
4
x

J x
y
J11
y J 21

J12
J 22
1
N 2 1 1
4
1
N 4 1 1
4
1
(1 ) x1 (1 ) x2 (1 ) x3 (1 ) x4
4
1
J 21 (1 ) x1 (1 ) x2 (1 ) x3 (1 ) x4
4
1
J12 (1 ) y1 (1 ) y2 (1 ) y3 (1 ) y4
4
1
J 22 (1 ) y1 (1 ) y2 (1 ) y3 (1 ) y4
4
J11
d J
det
J 22
J
21
J12
J11
29
PEMP
AME2503

u
x x
v 1
y y det J
u v
xy
y x
J 22
0
J
21
J12
0
J11
0
J 21
J 22
[A]
uu

0 u

J11
v
J12

v
u
v
1
1
(1 )
0
(1 )
0
(1 )
0
0 u2
(1 )
(1 )
v
0
(
1
)
0
(
1
)
0
(
1
)
0
2
A
0
(1 )
(1 ) u3
0
(1 )
0
(1 )
0

0
(
1
)
0
(
1
)
0
(
1
)
0
(
1
v3

u4
v
[B]
4
30
PEMP
Jacobian
x
J
x
Example:
y
y
(0,2)
(0,0)
2
(2,0)
x y y x x

x
1
x
0
(-3,2)
(-3,-2)
4
1
(3,2)
(3
2)
3
X
2
(3,-2)
y
0
y
1
1 0
J
0
1
Example:
y
x
Substituting values of x and y coordinates of the

four nodes in the equation for terms in Jacobian
(2,2)
3
AME2503
x N i xi 3
i 1
3 0
J
0
2
y N i yi 2
i 1
31
PEMP
Example:
AME2503
3
2
1
Example:
1
(-1,-3/4)
Example:
4
1
( x3 , y3 ) ((3 1 2 3 ) ,1 2)
( x2 , y2 ) ((3 1 2 3 ), 1 2)
( x4 , y4 ) ((3 1 2 3 ),1 2)
0
3
J
1
2
3
1
2
(-1,1/4)
4
( x1 , y1 ) ((3 1 2 3 ) , 1 2)
(1,5/4)
1 4 1
J
4 0 3
2
(1,-3/4)
4
1
x N i xi (1 )(1 ) y N i yi (1 )
i 1
i 1
2
2
(1 )
2x2 square with

0
0
1
1
one side collapsed J
2
J
(1 )
(
1
1
1
X
1
2
4
32
PEMP
AME2503
2-D Quadratic Quadrilateral Elements (Formulation)

Y
v3
v4
(-1,1)
u3
(1,1)
u4
(0,0)
6
8
v1
v2
u1
8
2
8
x N i xi
y N i yi
u N i ui
v N i vi
i 1
8
i 1
( 1 1)
(-1,-1)
u2
i 1
8
(1 1)
(1,-1)
q u1
v1 ........ u8 v8
i 1
33
PEMP
AME2503
2-D Quadratic Quadrilateral Elements (Formulation)

1
N1 (1 )(1 )( 1)
4
1
N 2 (1 )(1 )( 1)
4
1
N 3 (1 )(1 )( 1)
4
1
N 4 (1 )(1 )( 1)
4
N5
N6
N7
N8
1
(1 2 )(1 )
2
1
(1 )(1 2 )
2
1
(1 2 )(1 )
2
1
(1 )(1 2 )
2
34
PEMP
3-D Elements (Stress-Strain Relation)

U u
u
x
v
x
y
y w
z z
u v
xy
yz y x
v w
zx
z y
w u
x z
AME2503
x

y
z

xy
yz

zx
35
PEMP
3-D Elements (Stress-Strain Relation)

x

y
z

xy
yz

zx
1

1
1
E
0
0
(1 )(1 2 ) 0
0
0
0
0
0
0
0
0
0
0
(1 2 ) / 2
0
0
(1 2 ) / 2
0
AME2503
x
0

y
0
z
0
0
xy
(1 2 ) / 2 yz

zx
36
PEMP
3-D Elements (Element Geometry)

Linear:
4 node Tetrahedra
AME2503
Q d ti
Quadratic:
10 node Tetrahedra
8 node Hexahedra
20 node Hexahedra
6 node Pentahedra
1 node
15
d Pentahedra
h d
37
PEMP
AME2503
3-D Linear Hexahedral Elements (Formulation)

Y,v
(-1,1,-1)
(1,1,-1)
8
4
(-1,-1,-1) 3
2
(-1,-1,1)
X,u
Z,w
(1,1,1)
(-1,1,1)
6
6
7
5
4
((1,-1,-1)
, , )
1
1
(1,-1,1)
2
8
Geometry
mapping
x N i xi
y N i yi
z N i zi
Displacement
mapping
u N i ui
v N i vi
w N i wi
i 1
8
i 1
i 1
8
i 1
i 1
8
i 1
38
PEMP
AME2503

q u1
v1
w1
u 2 .......... w7
u8
v8
w8
N1 (1 )(1 )(1 ) / 8
N 2 (1 )(1 )(1 ) / 8
N 3 (1 )(1 )(1 ) / 8
N 4 (1 )(1 )(1 ) / 8
N 5 (1 )(1 )(1 ) / 8
N 6 (1 )(1 )(1 ) / 8
N 7 (1 )(1 )(1 ) / 8
N 8 (1 )(1 )(1 ) / 8
39
PEMP
AME2503
3-D Quadratic Hexahedral Elements (Formulation)

Y,v
(-1,1,-1)
(1,1,-1)
8
4
(-1,-1,-1) 3
2
X,u
Z,w
(1,1,1)
(-1,1,1)
6
6
(-1,-1,1)
((1,-1,-1)
, , )
1
(1,-1,1)
2
20
20
20
Geometry
mapping
x N i xi
y N i yi
z N i zi
Displacement
mapping
u N i ui
v N i vi
w N i wi
i 1
20
i 1
i 1
20
i 1
i 1
20
i 1
40
PEMP
AME2503

q u1
v1
w1
u 2 .......... w19
u20
v20
w20
For Corner Nodes:
N i (1 i )(1 i )(1 i )(i i i 2) / 8

For
o Typical
yp c mid-side
d s de Nodes:
i 0,
i 1,
i 1
N i (1 2 )(1 i )(1 i )
41
PEMP
FEM Element Library
AME2503
42
PEMP
Element Quality Considerations
AME2503
Ideal Shape
Aspect Ratio5
45135
Internal
Angle
Skew < 45
4575
Warpage Angle10
Warpage
0 6 Jacobian
0.6
Jacobian 1.0
1 0
43
PEMP
Planar Beam Elements (Formulation)
AME2503
P
E, L, I
Beam:
Structural elements to support transverse loading
Bar like Structure
Longitudinal dimension >> Other two dimensions
44
PEMP

P
Y,v(x)
AME2503
q(x)
X,u(x,y)
v( x)
u ( x, y )
yv y
x
u
2v
y 2 yv y
x
x
2v
E Ey 2 Ey
x
M ydx E y 2 dx EI
45
PEMP
e v1 v2
v ( x ) N1
v1
N 2
v2
AME2503
e v1 1 v2 2
v( x) N v1
N 1
Nv2
v1

1
N 2
v2
2
46
PEMP
Planar Beam Elements (Shape Functions)
AME2503
1
2
N 1 l 1 1
8
1
2
N v1 1 2
4
1
-1
-1
Nv2
1
1 2 2
4
N 2
1
2
l 1 1
8
-1
-1
d 2v 4 d 2v 4
2 2 2 2 N e
d
dx
l d
l
-0.5
1 6
B
l l
3 1
6
l
3 1
1
47
PEMP

1
l
f e N q d
2
1
l
K e EIB B d
2
1
3l
6
2
2 EI 3l 2l
Ke 3
l 6 3l
2
3
l
l
AME2503
6
3l
6
3l
3l
l 2
3l
2
2l
6
l
ql
fe
12 6
l
48
PEMP
Planar Beam Element
AME2503
Bending Moment & Shear Forces
d 2 v EI
M ( x) EI 2 2 6
dx
l
V ( x)
(3 1)l
dM EI
3 2 l
dx
l
v1

(3 1)l 1
v2
2
v1

2 l 1
v2
2
49
PEMP
Beam Element Orientation

Given A, L and E, find
AME2503
X
Ixx >> Iyy
PL3
PL3
or
3EI xx
3EI yy
50
PEMP
Beam Element Orientation

K
AME2503
Node (real or dummy)

defines local X
X-Z
Z plane
else
Specify a vector to define Z
X
J
I
Y
In real constants,, define
Izz and Iyy appropriately
51
PEMP
Plates
AME2503
Thickness of the structure is much smaller than the other two

dimensions
Mid-surface
Mid surface is flat
Plane Stress ?
Membrane
Bending
Mid-surface ((2D)) idealisation

of plate element
52
PEMP
Kirchoff Plate
AME2503
Thin compared to other two dimension

Deflection much smaller than the thickness
~ Uniform thickness
Symmetric about the mid
mid-plane
plane
Loads normal to the mid-plane
53
PEMP
Kirchoff Plate
AME2503
y
z
M yx
M yy
Qx
M xy
Qy
M xx
M yy
M xy
M xy
M xy
M xy
M xx
M xx
M yy
M yyx
Displacement: w w( x, y ) along z direction

w
w
Rotation of material normal:

x
y
y
x
Displacement at a point in plate:
u x z y
u y z x
uz w
54
PEMP
Plate Element
AME2503
Planar (2D) Elements Triangles or Quadrilateral

Nodal Variables:
w( x, y ), x , y
Displacement assumption:
w( x, y ) N i a e
Boundary Conditions:
In terms of transverse displacements
I terms
In
t
off slopes
l
normall to
t the
th boundary
b d
In terms of Moments and Shear forces
55
PEMP
Shell
AME2503
+
E ample 1
Example
Example 2
Example 3
Plate with Curvature?
56
PEMP
Shell Element
AME2503
2D Elements/Curved Triangles or Quadrilateral

Nodal Variables:
u, v, w, x , y , z
Use with Understanding
57
PEMP
Summary
AME2503
Different idealisation of 3D structures by 2D elements has been

explained
yp
shapes
p for 2D elements has been introduced
Typical
Area coordinates for triangular element has been defined
Formulation linear and quadratic triangular elements has been
described
Formulation of 2D linear and quadratic quadrilateral and 3D linear
and quadratic tetrahedral and hexahedral elements is explained
3 D elements in modelling bending has been
Shortcoming of 3-D
demonstrated
Formulation of beam as 1-D element has been explained
Basic mechanics of shells has been explained
Behaviour, applications and limitation of shell elements has been
explained
58
PEMP
AME2503
Session Topics
p
1.
2
2.
3.
4.
5
5.
6.
Formulation of quadrilateral elements

Impact of Jacobian and element quality
Formulation of 3-D elements
Need for elements with built in bending characteristics
F
Formulation
l ti off beam
b
element
l
t
Extension of 1-D beam element to shell element
59

AME2503

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PEMP

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Elements (Summary)

2-D Elements (Application)

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Elements (Plane Stress)

2-D Elements (Plane Stress)

2-D Elements (Plane Stress)

2-D Elements (Plane Strain)

2-D Elements (Plane Strain)

2-D Elements (Summary)

Z dim << X,Y dim

Z dim >> X,Y dim

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Elements (Summary)

2-D Elements (Axisymmetric)

What are Axi-symmetric structures?

2-D Elements (Axisymmetric)

Onlyy shaded area in X-Z

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Elements (Axisymmetric)

Stress Strain Relationship:

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Elements (Axisymmetric)

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Elements (Element Geometry)

2-D Triangular Elements (Natural Coordinates)

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Triangular Elements (Natural Coordinates)

2-D Linear Triangular Elements (Formulation)

2-D Linear Triangular Elements (Formulation)

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Linear Triangular Elements (Formulation)

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Linear Triangular Elements (Formulation)

y23 (u1 u3 ) y13 (u2 u3 )

x23 (v1 v3 ) x13 (v2 v3 )

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Linear Triangular Elements (Formulation)

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Linear Triangular Elements (Characteristics)

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Quadratic Triangular Elements (Formulation)

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Quadratic Triangular Elements (Characteristics)

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Linear Quadrilateral Elements (Formulation)

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Linear Quadrilateral Elements (Formulation)

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Linear Quadrilateral Elements (Formulation)

Substituting values of x and y coordinates of the

M.S. Ramaiah School of Advanced Studies, Bengaluru

2x2 square with

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Quadratic Quadrilateral Elements (Formulation)

M.S. Ramaiah School of Advanced Studies, Bengaluru

2-D Quadratic Quadrilateral Elements (Formulation)

M.S. Ramaiah School of Advanced Studies, Bengaluru

3-D Elements (Stress-Strain Relation)

M.S. Ramaiah School of Advanced Studies, Bengaluru

3-D Elements (Stress-Strain Relation)