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Loural of Sound and Vibration (2008) 259(2), 473-480 . 4oi0.1006jsv2002.5122, availabe online at hip idealtbrary.com on IDE De ® @ SHAPE FUNCTIONS OF THREE-DIMENSIONAL TIMOSHENKO BEAM ELEMENT A. BAZOUNE AND Y. A. KHULIEF Department of Mechanical Engineering, King Fahd University of Petroleum and Minerals, KFUPM BOX # 319, Dhahran 31261, Saudi Arabia, E-mail: abazoune(@kfupm edi.sa AND N. G. Srepnen ‘School of Engineering Sciences, Mechanical Engineering, University of Southampton, Southampton ‘SOI IBS, England (Received 15 March 2002, and in final form 8 April 2002) L. INTRODUCTION Beams represent fundamental structural components in many engineering applications, and shape functions are essential for the finite element discretization of such structures. Praemeniecki {1} derived explicit expressions for the shape functions of two-dimensional ‘Timoshenko and three-dimensional Euler-Bernoulli (EB) beam elements, Note that for the three-dimensional EB element presented in reference [1], a change of sign is required in those entries of the third column of the shape function matrix which correspond to the twist terms. Since that pioneering work, there does not appear to have been any attempt to extend these results to a three-dimensional Timoshenko beam element, and it is the purpose of this note to fill this gap in the literature. 2. FINITE ELEMENT DISCRETIZATION Consider a typical two-node three-dimensional beam element of length /, where each node has six degrees of freedom. The nodal displacement vector {e} defined with respect to the clement axes is denoted by im yw Or On Or ue tr w2 Ba Op Oa], (1) {e}irer where (uj, 1s) are the nodal axial displacements in the x-direction, and (v1, v3) and (v1, 2) are the translational displacements in the y- and z-directions, respectively, (Gz1, 8.2) are the torsional displacements about the x-axis, and (01, 8,2) and (0x1, 8.2) are the rotational displacements in the (xz)- and (xy)-planes, respectively. According to the standard finite element procedure, the elastic deformation of an arbitrary point of the beam element can be expressed as (a) =e), @) (0022-460X02/$35.00 2002 Elsevier Science Ltd. All rights reserved 474 LETTERS TO THE EDITOR where {d} represents the elastic deformation vector of the beam element and [1] is the ‘matrix of shape functions used to model its deformations. Note that the shape functions are spatially dependent while the nodal displacement vector is time dependent. Equation (2) is quite general and is valid for any form of shape functions [1 used to model the beam elements. The shape functions used for translational and rotational bending deformation are the conventional cubic Hermitian polynomials that incorporate, in addition to the continuity and completeness conditions, shear deformation parameters that account for the effects of shear. The shape functions for torsional and axial deformation are linear, and are included for completeness. 3. THE DISPLACEMENT FIELD Timoshenko beam theory (TBT) is applied when the cross-sectional dimensions of the beam are not small compared to its length and/or when higher bending modes are required. The kinematic relations for a three-dimensional beam undergoing axial, torsional and bending deformations in the (xxy)- and (xz)-plane can be expressed as vs ef) 4B) Vi = -20+0, Wo = yOc+w, @) where the translations (v, wv) consist of contributions (vp, ws) and (2, 1,) due to bending and transverse shear, that is Oy + ty, w= WHE ye (4,3) ‘The relationships between total slope, bending rotation and transverse shear are Ov _ Buy | dv, Fen Oe Oe Tot 6) dw _ Oy Ow Ber Be ae Ot ae @ Where 7. and 74. are shear strains in the (xy)- and (xz)-planes, respectively. The two rotations (0, 0.) are related to the bending deformations (vp, ws) by the expressions og, Om Ox” Ox” Note that axial warping displacement uring torsion i ignored 6, (8,9) 4. DERIVATION OF SHAPE FUNCTIONS Shape function matrices for axial and torsional deformation, [4 found in any elementary ext, and are given by Wald] = 00) = (1-9 ah, (10) where §=.x/l is the dimensionless axial co-ordinate, Shape functions for bending deformation in the (xp)-plane are derived as follows: the translational deformation v(x) at an arbitrary location x is expressed as, 0(4) = dy + px + yx? + ax ay J and [a], can be LETTERS TO THE EDITOR 475 or in matrix form as v(x) = (allay), (12) where b=[ x 2 x] (3) and {a} = [a a a as!" (14) The shear strain is assumed to be independent of the element axial co-ordinate x, in accordance with reference [2], ie., constant along the finite element 0 (1s) The bending moment M. and the shearing force Q, are related by Yay = Const, (16) and the moment-curvature relationship is a7) where L. is the second moment of area about the z-axis; the shear force is related to the transverse shear strain by Q =; G Ary (18) In the above, x is the shear correction factor that accounts for the non-uniform distribution of the shear stress over the cross-section A, F is the modulus of elasticity, and Gis the shear modulus. The slope due to bending can be obtained by using equations (6), (13) and (15), that is 8, = ay + 2ayx + 3a5x? — Yo, (19) ith respect to x and substituting it into equation (17) yields M, = ~El--(2ay + 643%). (20) Taking the derivative of M. with respect to x and substituting into equation (16) along with equations (15) and (18) yields Taking the derivative of 8, 6EL.:03 ~ ky GA, an from which (22) where (23) Substitute equation (23) into the expression for 8., to give 0. = ay + 2ayx + (3x? + 6Az)a (2a) 476 LETTERS TO THE EDITOR To express the coefficients a in terms of the bending deformations and slopes, the following boundary conditions must be satisfied: w(0) = and (0 600) =. and (0) S and applying these to equations (11) and (24) gives 20) = a 000) = a +64.a5 w= a tal+anl? + asl (26) 0.) = a, +2ayl + (32 +6A,)ay In matrix form, this can be written as o 1000 4% éa{_]o 10 64, a af "flree a Cu 2) lo 1 a G46) la or in more compact form {a} = [Al{aj}, (28) from which fa} = (A) "(a 29) Solving for {a)} gives a =r, (30) GB) (32) (33) where (34) and (35) LETTERS TO THE EDITOR an is the shear deformation parameter that represents the ratio between bending and shear stiffnesses. Substituting the values of a; into the expression of o(é = x/I) and simplifying, one obtains 0G) =8.(1— 367 +28 + (1 ~ gen +h (c-28 +8 + $0-2)ou 48.38 ~ 20 + O.8)02 +I (-2+0+$0e+2))ps (36) Hence, »() can be written in the form 266) = Wt + Malls +H gta + Mebty (7) where My = $138 +22 + O.(1- 6), We = 16,(¢-28 +8 +$6-2)), Pee es (38) No = 632-28 +08) ee Wy = 6(-242+$C2+0) Similarly, substitute a; into the equation for 0,(€) to get - Pee 2 O48) = FE +P) + (1-48 +32 + 0,1 - 8/0 9) : 39) + Fe Ant B(28+ SP + 2) 02. Hence, 0.(¢) can be written in the form HG) = Me, 21 + V ater + Mpg + M pall (40) where Mn = Bere), Vig = 6.0- 2 + 61-8), (1-45 +32 + 41-9) a i . Nig = O26 438 +628) Shape functions for bending in the (xz)-plane are obtained in a similar manner; the bending slope 6, is given by equation (7) while the shear deformation parameter is (42) 478 LETTERS TO THE EDITOR and (+6) oe; ‘The shape functions corresponding to bending in the (xz)-plane can then be written as Ney = (1-38 +28 +014), He = -He-22 +2 + 2E-2), As (44) Vn = 638-28 + 0,2), ee Mu = BLP +O + E+ 2) and the corresponding bending slope shape functions are Vig = Le ig (45) Mig = AHS 2), Ny, = —O)(-28 +387 + 0,2). By virtue of equations (10), (38), (41), (44) and (45), the kinematic relations given by equation (3) are now expressed as U = (1-8) — 6b:(-€ +P )noy — 66,(-E + Pow 4 1B, (1 ~ AE +38 + O,(1 ~ E01 ~ 18.(1 — 48 + 32 + 0.1 = 2B nen ~ 68, (¢ ~ 2 )fy ®,£)6052 ~ 1B,(-25 +32 + 6.2)n82, W =6,(1-32 +22 +6,(1-) +In(~ 90a ~ 18, (c-28 +0 + é- + By(36? — 28 + B,2)w2 + nea - 16,(-€ LETTERS TO THE EDITOR 479 where =y/I and [= 2/1 are dimensionless co-ordinates in the y- and z-directions respectively. In matrix form, this can be written as {@oa=[U VW) =Mseafehioe (47) These results are summarized in the matrix of the shape functions, [7], shown in Appendix A. If the shear deformation parameters @, and ®, are neglected, then [47] reduces to the three-dimensional Euler-Bernoulli beam shape function derived in reference [1], where a sign change is required in the fourth and tenth entries of the third column of the shape funetion matrix, which correspond to the twist terms ACKNOWLEDGMENTS The support provided by King Fahd University of Petroleum and Minerals is deeply appreciated. The authors would like to thank Prof. M. H. Balush of the Civil Engineering Department, KFUPM, for useful discussions on this work. REFERENCES 1. J.S. PRzeMeNiecKt 1968 Theory of Matrix Structural Analysis, New York: McGraw-Hill p. 293, equation (11.30), 2. R, NARAYANASWAMI and H. M. ADELMAN 1974 American Institute of Aeronautics and Astronautics Journal 12, \613-1614. Inclusion of transverse shear deformation in finite element displacement formulations, LETTERS TO THE EDITOR 480 Co + D/L = %@ pur (“+ 1/1 =p asaya 0 (@-22- ete yor N30 + 264 22-)'or~ (@-28-2+2-) er 0 10+ ge4 Yor up 3- 0 (0+ oe 20% 0 e+>-Y%e9 0 (904 20-00 M54 9-)'69 0 o > : =r] o (e-98+ 2tae-2):91 W010 + 204 5— Die (@ Met e+ ee 2) 0r- ° WG-04 2649-197 Wa-0 We D- (O-N@+ z+ ge- ° 0 (G-D¥0+ get ge-De 0 0 uoUWa[a Mog OYUYSOUNT] JeuOISUOUNP-AaIKy atp LO xINeL oNOUNY adeyg, V XIGNadaVv

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