The Finite Element Method

A Practical Course
FEM FOR 2D SOLIDS
CHAPTER 5:
CONTENTS
INTRODUCTION
LINEAR TRIANGULAR ELEMENTS
Field variable interpolation
Shape functions construction
Using area coordinates
Strain matrix
Element matrices
LINEAR RECTANGULAR ELEMENTS
Shape functions construction
Strain matrix
Element matrices
Gauss integration
Evaluation of m
e

CONTENTS
LINEAR QUADRILATERAL ELEMENTS
Coordinate mapping
Strain matrix
Element matrices
Remarks
HIGHER ORDER ELEMENTS
COMMENTS (GAUSS INTEGRATION)
CASE STUDY

INTRODUCTION
2D solid elements are applicable for the analysis
of plane strain and plane stress problems.
A 2D solid element can have a triangular,
rectangular or quadrilateral shape with straight or
curved edges.
2D solid element can deform only in the plane of
the 2D solid.
At any point, there are two components in x and y
directions for the displacement as well as forces.
INTRODUCTION
For plane strain problems, the thickness of the
element is unit, but for plane stress problems, the
actual thickness must be used.
In this course, it is assumed that the element has a
uniform thickness h.
Formulating 2-D elements with given variation of
thickness is also straightforward, as the procedure
is the same as that for a uniform element.

2D solids plane stress and plane strain
Plane stress Plane strain
LINEAR TRIANGULAR ELEMENTS
Less accurate than quadrilateral elements
Used by most mesh generators for complex
geometry
Linear triangular element

x, u
y, v
1 (x
1
, y
1
)
(u
1
, v
1
)
2 (x
2
, y
2
)
(u
2
, v
2
)
3 (x
3
, y
3
)
(u
3
, v
3
)
A
f
sx

f
sy


Triangular elements
Nodes
Field variable interpolation
( , ) ( , )
h
e
x y x y = U N d
3 node at nts displaceme
2 node at nts displaceme
1 node at nts displaceme

3
3
2
2
1
1
)
`

)
`

)
`

=
v
u
v
u
v
u
e
d
3 1 2
3 1 2
Node 2
Node 1 Node 3
0 0 0

0 0 0
N N N
N N N
(
=
(

N
where
(Shape functions)

x, u
y, v
1 (x
1
, y
1
)
(u
1
, v
1
)
2 (x
2
, y
2
)
(u
2
, v
2
)
3 (x
3
, y
3
)
(u
3
, v
3
)
A
f
sx

f
sy

Shape functions construction
1 1 1 1
N a b x c y = + +
2 2 2 2
N a b x c y = + +
3 3 3 3
N a b x c y = + +
i i i i
N a b x c y = + +
Assume,
i= 1, 2, 3
{ }
1
T
T
i
i i
i
a
N x y b
c


= =
`

)
p
p
o
o
or
Shape functions construction
Delta function property:
1 for
( , )
0 for
i j j
i j
N x y
i j
=

=

=

1 1 1
1 2 2
1 3 3
( , ) 1
( , ) 0
( , ) 0
N x y
N x y
N x y
=
=
=
Therefore,
1 1 1 1 1 1 1 1
1 2 2 1 1 2 1 2
1 3 3 1 1 3 1 3
( , ) 1
( , ) 0
( , ) 0
N x y a b x c y
N x y a b x c y
N x y a b x c y
= + + =
= + + =
= + + =
Solving,
2 3 3 2 2 3 3 2
1 1 1
, ,
2 2 2
e e e
x y x y y y x x
a b c
A A A

= = =
Shape functions construction
1 1
2 2 2 3 3 2 2 3 1 3 2 1
3 3
1
1 1 1
1 [( ) ( ) ( ) ]
2 2 2
1
e
x y
A x y x y x y y y x x x y
x y
= = = + + P
Area of triangle Moment matrix
Substitute a
1
, b
1
and c
1
back into N
1
= a
1
+ b
1
x + c
1
y:
1 2 3 2 3 2 2
1
[( )( ) ( )( )]
2
e
N y y x x x x y y
A
= +
Shape functions construction
Similarly,
2 1 1
2 2 2
2 3 3
( , ) 0
( , ) 1
( , ) 0
N x y
N x y
N x y
=
=
=
2 3 1 1 3 3 1 1 3
3 1 3 1 3 3
1
[( ) ( ) ( ) ]
2
1
[( )( ) ( )( )]
2
e
e
N x y x y y y x x x y
A
y y x x x x y y
A
= + +
= +
3 1 1
3 2 2
3 3 3
( , ) 0
( , ) 0
( , ) 1
N x y
N x y
N x y
=
=
=
3 1 2 1 1 1 2 2 1
1 2 1 2 1 1
1
[( ) ( ) ( ) ]
2
1
[( )( ) ( )( )]
2
e
e
N x y x y y y x x x y
A
y y x x x x y y
A
= + +
= +
Shape functions construction
i i i i
N a b x c y = + +
1
( )
2
1
( )
2
1
( )
2
i j k k j
e
i j k
e
i k j
e
a x y x y
A
b y y
A
c x x
A
=
=
=
where
i
j k
i= 1, 2, 3
J, k determined from cyclic
permutation
i = 1, 2
j = 2, 3
k = 3, 1
Using area coordinates
Alternative method of constructing shape
functions

i, 1
j, 2
k, 3
x
y
P
A
1

1 2 2 2 3 3 2 2 3 3 2
3 3
1
1 1
1 [( ) ( ) ( ) ]
2 2
1
x y
A x y x y x y y y x x x y
x y
= = + +
1
1
e
A
L
A
=
A 2-3-P:
Similarly, A 3-1-P A
2

A 1-2-P A
3

2
2
e
A
L
A
=
3
3
e
A
L
A
=
Using area coordinates
1 2 3
1 L L L + + = Partitions of unity:
3 1 2 3 1 2
1 2 3
1
e e e e
A A A A A A
L L L
A A A A
+ +
+ + = + + = =
Delta function property: e.g. L
1
= 0 at if P at nodes 2 or 3
Therefore,
1 1 2 2 3 3
, , N L N L N L = = =
( , ) ( , )
h
e
x y x y = U N d
Strain matrix



xx
yy
xy
u
x
v
y
u v
y x
c
c
c
c
c
c
c c
c
c c
=
=
= +
LU = c
where
0
0
x
y
y x
(
c
(
c
(
( c
=
(
c
(
(
c c
(
c c
(

L
e e
Bd LNd LU = = = c
0
0
x
y
y x
(
c
(
c
(
( c
= =
(
c
(
(
c c
(
c c (

B LN N
1 2 3
1 2 3
1 1 2 2 3 3
0 0 0
0 0 0
b b b
c c c
c b c b c b
(
(
=
(
(

B
(constant strain element)
Element matrices
0
d ( d ) d d
e e e
h
T T T
e
V A A
V z A h A = = =
} } } }
k B cB B cB B cB
Constant matrix

T
e e
hA = k B cB
0
d d d d
e e e
h
T T T
e
V A A
V z A h A = = =
} } } }
m N N N N N N
Element matrices
1 1 1 2 1 3
1 1 1 2 1 3
2 1 2 2 2 3
2 1 2 2 2 3
3 1 3 2 3 3
3 1 3 2 3 3
0 0 0
0 0 0
0 0 0
d
0 0 0
0 0 0
0 0 0
e
e
A
N N N N N N
N N N N N N
N N N N N N
h A
N N N N N N
N N N N N N
N N N N N N

(
(
(
(
=
(
(
(
(
(

}
m
For elements with uniform density and thickness,
A
p n m
p n m
A L L L
p n
A
m
2
)! 2 (
! ! !
d
3 2 1
+ + +
=
}
Eisenberg and Malvern (1973):
Element matrices
(
(
(
(
(
(
(
(

=
2
0 2 .
1 0 2
0 1 0 2
1 0 1 0 2
0 1 0 1 0 2
12
sy
hA
e

m
T
2 3
d
sx
e
l
sy
f
l
f

=
`
)
}
f N

=

y
x
y
x
e
f
f
f
f
l
0
0
2
1
3 2
f Uniform distributed load:

x, u
y, v
1 (x
1
, y
1
)
(u
1
, v
1
)
2 (x
2
, y
2
)
(u
2
, v
2
)
3 (x
3
, y
3
)
(u
3
, v
3
)
A
f
sx

f
sy

LINEAR RECTANGULAR
ELEMENTS
Non-constant strain matrix
More accurate representation of stress and strain
Regular shape makes formulation easy

Shape functions construction

x, u
y, v
1 (x
1
, y
1
)
(u
1
, v
1
)
2 (x
2
, y
2
)
(u
2
, v
2
)
3 (x
3
, y
3
)
(u
3
, v
3
)
2a
f
sy

f
sx

4 (x
4
, y
4
)
(u
4
, v
4
)
2b
q

Consider a rectangular element
1
1
2
2
3
3
4
4
displacements at node 1
displacements at node 2

displacements at node 3
displacements at node 4
e
u
v
u
v
u
v
u
v

`

)


`
)
=
`

`

)



`
)
)
d

Shape functions construction

x, u
y, v
1 (x
1
, y
1
)
(u
1
, v
1
)
2 (x
2
, y
2
)
(u
2
, v
2
)
3 (x
3
, y
3
)
(u
3
, v
3
)
2a
f
sy

f
sx

4 (x
4
, y
4
)
(u
4
, v
4
)
2b
q


1 (1, 1)
(u
1
, v
1
)
2 (1, 1)
(u
2
, v
2
)
3 (1, +1)
(u
3
, v
3
)
2
4 (1, +1)
(u
4
, v
4
)
2
q

2 1 2 1
( ) / 2 ( ) / 2
,
x x x y y y
a b
q
+ +
= =
( , ) ( , )
h
e
x y x y = U N d
3 1 2 4
3 1 2 4
Node 2 Node 3
Node 1 Node 4
0 0 0 0

0 0 0 0
N N N N
N N N N
(
=
(

N where
Shape functions construction
) 1 )( 1 (
) 1 )( 1 (
) 1 )( 1 (
) 1 )( 1 (
4
1
4
4
1
3
4
1
2
4
1
1
q
q
q
q
+ =
+ + =
+ =
=
N
N
N
N
1
1
3 4
at node 1
1
1
1
3 4
at node 2
1
1
1
3 4
at node 3
1
1
1
3 4
at node 4
1
(1 )(1 ) 0
(1 )(1 ) 0
(1 )(1 ) 1
(1 )(1 ) 0
N
N
N
N

q
q
q
q
q
=
=
=
=
=
=
=
=
= + + =
= + + =
= + + =
= + + =
Delta function
property
4
1 2 3 4
1
1
4
1
4
[(1 )(1 ) (1 )(1 ) (1 )(1 ) (1 )(1 )]
[2(1 ) 2(1 )] 1
i
i
N N N N N
q q q q

=
= + + +
= + + + + + + +
= + + =

Partition of
unity
) 1 )( 1 (
4
1
q q
j j j
N + + =

1 (1, 1)
(u
1
, v
1
)
2 (1, 1)
(u
2
, v
2
)
3 (1, +1)
(u
3
, v
3
)
2
4 (1, +1)
(u
4
, v
4
)
2
q

Strain matrix
1 1 1 1
1 1 1 1
1 1 1 1 1 1 1 1
0 0 0 0
1
0 0 0 0
4
a a a a
b b b b
a a a a b b b b
q q q q

q q q q
+ +

+ +

+ + + +

(
(
= =
(
(

B LN
Note: No longer a constant matrix!
Element matrices
, b y a x = = q dxdy = ab ddq
Therefore,
q d d d
T
1
1
1
1
T
cB B cB B k h ab A h
A
e
} } }
+

= =
1 1
0 1 1
d d d d d d
h
T T T T
e
V A A
V z A h A abh q
+ +

= = = =
} } } } } }
m N N N N N N N N
Element matrices
T
2 3
d
sx
e
l
sy
f
l
f

=
`
)
}
f N

x, u
y, v
1 (x
1
, y
1
)
(u
1
, v
1
)
2 (x
2
, y
2
)
(u
2
, v
2
)
3 (x
3
, y
3
)
(u
3
, v
3
)
2a
f
sy

f
sx

4 (x
4
, y
4
)
(u
4
, v
4
)
2b
q

For uniformly distributed load,

=
0
0
0
0
y
x
y
x
e
f
f
f
f
b f
Gauss integration
For evaluation of integrals in k
e
and m
e
(in practice)
In 1 direction: ) ( )d (
1
1
1
j j
m
j
f w f I

}
=
+

= =
m gauss points gives exact solution of
polynomial integrand of n = 2m - 1
1 1
1 1
1 1
( , )d d ( , )
y
x
n
n
i j i j
i j
I f ww f q q q
+ +

= =
= =

} }
In 2 directions:
Gauss integration
m Gauss Point
j
Gauss Weight w
j
Accuracy order
n
1 0 2 1
2 -1/\3, 1/\3 1, 1 3
3 -\0.6, 0, \0.6 5/9, 8/9, 5/9 5
4 -0.861136, -0.339981,
0.339981, 0.861136
0.347855, 0.652145,
0.652145, 0.347855
7
5 -0.906180, -0.538469, 0,
0.538469, 0.906180
0.236927, 0.478629,
0.568889, 0.478629,
0.236927
9
6 -0.932470, -0.661209,
-0.238619, 0.238619,
0.661209, 0.932470
0.171324, 0.360762,
0.467914, 0.467914,
0.360762, 0.171324
11
Evaluation of m
e
(
(
(
(
(
(
(
(
(
(
(

=
4
0 4 .
2 0 4
0 2 0 4
1 0 2 0 4
0 1 0 2 0 4
2 0 1 0 2 0 4
0 2 0 1 0 2 0 4
9
sy
hab
e

m
Evaluation of m
e
E.g.
) 1 )( 1 (
4
) 1 )( 1 ( ) 1 )( 1 (
16
3
1
3
1
1
1
1
1
1
1
1
1
j i j i
j i j i
j i ij
hab
d d
hab
d d N N hab m
q q

q q q q q

q
+ + =
+ + + + =
=
} }
} }
+

9
4 ) 1 1 1 )( 1 1 1 (
4
3
1
3
1
33
hab hab
m

= + + =
Note: In practice, gauss integration is often used
LINEAR QUADRILATERAL
ELEMENTS
Rectangular elements have limited application
Quadrilateral elements with unparallel edges are
more useful
Irregular shape requires coordinate mapping
before using Gauss integration
Coordinate mapping

2 (x
2
, y
2
)
y
x
1 (1, 1) 2 (1, 1)
3 (1, +1)
4 (1, +1)
q

3 (x
3
, y
3
)
4 (x
4
, y
4
)
1 (x
1
, y
1
)
Physical coordinates Natural coordinates
( , ) ( , )
h
e
q q = U N d (Interpolation of displacements)
( , ) ( , )
e
q q = X N x
(Interpolation of coordinates)
Coordinate mapping
( , ) ( , )
e
q q = X N x
where
x
y

=
`
)
X
,
1
1
2
2
3
3
4
4
coordinate at node 1
coordinate at node 2

coordinate at node 3
coordinate at node 4
e
x
y
x
y
x
y
x
y

`

)


`

)
=
`

`

)



`
)
)
x
) 1 )( 1 (
) 1 )( 1 (
) 1 )( 1 (
) 1 )( 1 (
4
1
4
4
1
3
4
1
2
4
1
1
q
q
q
q
+ =
+ + =
+ =
=
N
N
N
N
i i
i
x N x ) , (
4
1
q

=
=
i i
i
y N y ) , (
4
1
q

=
=
Coordinate mapping
Substitute = 1 into
i i
i
x N x ) , (
4
1
q

=
=

2 (x
2
, y
2
)
y
x
1 (1, 1) 2 (1, 1)
3 (1, +1)
4 (1, +1)
q

3 (x
3
, y
3
)
4 (x
4
, y
4
)
1 (x
1
, y
1
)
1 1
2 3 2 2
1 1
2 3 2 2
(1 ) (1 )
(1 ) (1 )
x x x
y y y
q q
q q
= + +
= + +
or
) ( ) (
) ( ) (
2 3 2
1
3 2 2
1
2 3 2
1
3 2 2
1
y y y y y
x x x x x
+ + =
+ + =
q
q
Eliminating q,
3 2 1 1
2 3 2 3 2 2
3 2
( )
{ ( )} ( )
( )
y y
y x x x y y
x x

= + + +

Strain matrix
q q q

c
c
c
c
+
c
c
c
c
=
c
c
c
c
c
c
+
c
c
c
c
=
c
c
y
y
N x
x
N N
y
y
N x
x
N N
i i i
i i i i
i
i
i
N
N
x
N
N
y

q
c
( c
(
(
(
c
c
(
( =
c
c (
(
(
(
c
c


J
or
x y
x y

q q
c c
(
(
c c
(
=
c c (
(
c c

J
where
(Jacobian matrix)
1 1
3 1 2 4
2 2
3 3 3 1 2 4
4 4
x y
N N N N
x y
x y N N N N
x y

q q q q
( c c c c
(
(
(
c c c c
(
(
=
(
c c c c (
(
(
c c c c
(


J
Since ( , ) ( , )
e
q q = X N x ,
Strain matrix
1
i
i
i
i
N
N
x
N
N
y

c
( c
(
(
(
c
c
(
( =
c
c (
(
(
(
c
c


J
Therefore,
N LN B
(
(
(

c c c c
c c
c c
= =
x y
y
x
0
0
Replace differentials of N
i
w.r.t. x and y
with differentials of N
i
w.r.t. and q
(Relationship between differentials of shape
functions w.r.t. physical coordinates and
differentials w.r.t. natural coordinates)
Element matrices
Murnaghan (1951) : dA=det |J | ddq
1 1
T
1 1
det d d
e
h q
+ +

=
} }
k B cB J
q

d d det
d d d d
1
1
1
1
0
J N N
N N N N N N m
T
T
A
T
A
h
T
V
e
h
A h A x V
} }
} } } }
+

=
= = =
Remarks
Shape functions used for interpolating the coordinates are
the same as the shape functions used for the interpolation
of the displacement field. Therefore, the element is called
isoparametric element.
Note that the shape functions for coordinate interpolation
and displacement interpolation do not have to be the same.
Using the different shape functions for coordinate
interpolation and displacement interpolation, respectively,
will lead to the development of so-called subparametric or
superparametric elements.

HIGHER ORDER ELEMENTS
Higher order triangular elements

i (I,J,K)
(p,0,0)
(0,p,0)
(0,0,p)
(p1,1,0)
L
1

L
3

L
2

(0,p1,1)
(0,1,p1)
(1,0,p1)
(2,0,p2)
n
d
= (p+1)(p+2)/2
I J K p + + = Node i,
Argyris, 1968 :
1 2 3
( ) ( ) ( )
I J K
i I J K
N l L l L l L =
0 1 ( 1)
0 1 ( 1)
( )( ) ( )
( )
( )( ) ( )
L L L L L L
l L
L L L L L L
o o o o o o | |
| o
o o o o o o | | | |

=

HIGHER ORDER ELEMENTS
Higher order triangular elements (Contd)

x, u
y, v
1
2
3
4
5
6
1 1 1
(2 1) N L L =
4 1 2
4 N L L =

x, u
y, v
1
2
3
4
5
6
7
8
9
10
1 1 1 1
1
(3 1)(3 2)
2
N L L L =
4 1 2 1
9
(3 1)
2
N L L L =
10 1 2 3
27 N L L L =
Cubic element
Quadratic element
HIGHER ORDER ELEMENTS
Higher order rectangular elements

(0,0)
0
q

(n,0)
(0,m)
(n,m)
i(I,J)
Lagrange type:
1 1
( ) ( )
D D n m
i I J I J
N N N l l q = =
0 1 1 1
0 1 1 1
( )( ) ( )( ) ( )
( )
( )( ) ( )( ) ( )
n k k n
k
k k k k k k k n
l

+
+

=

(Zienkiewicz et al., 2000)
HIGHER ORDER ELEMENTS
Higher order rectangular elements(Contd)
1
2
3
4
q

5
6
7
8 9
I=0 I=1 I=2
J=0
J=1
J=2
1 1
1 0 0
1 1
2 2 0
1 1
3 2 2
1 1
4 0 2
1
( ) ( ) (1 ) (1 )
4
1
( ) ( ) (1 ) (1 )
4
1
( ) ( ) (1 )(1 )
4
1
( ) ( ) (1 )(1 )
4
D D
D D
D D
D D
N N N
N N N
N N N
N N N
q q q
q q q
q q q
q q q
= =
= = +
= = + +
= = +
1 1
5 1 0
1 1
6 2 1
1 1
7 1 2
1 1
8 0 1
1 1 2 2
9 1 1
1
( ) ( ) (1 )(1 )(1 )
2
1
( ) ( ) (1 )(1 )(1 )
2
1
( ) ( ) (1 )(1 )(1 )
2
1
( ) ( ) (1 )(1 )
2
( ) ( ) (1 )(1 )
D D
D D
D D
D D
D D
N N N
N N N
N N N
N N N
N N N
q q q
q q q
q q q
q q q
q q
= = +
= = + +
= = + +
= =
= =
(9 node quadratic element)
HIGHER ORDER ELEMENTS
Higher order rectangular elements(Contd)
Serendipity type:

1
2
3
4
q

5
6
7
8
0
=1
=1
q=1
q=1
1
4
2
1
2
2
1
2
(1 )(1 )( 1) 1, 2, 3, 4
(1 )(1 ) 5, 7
(1 )(1 ) 6, 8
j j j j j
j j
j j
N j
N j
N j
q q q q
q q
q
= + + + =
= + =
= + =
(eight node quadratic element)
HIGHER ORDER ELEMENTS
Higher order rectangular elements(Contd)

1
2
3
4
q

5 6
7
8
9 10
11
12
2 2
1
32
2
9
32
1
3
2
9
32
(1 )(1 )(9 9 10)
for corner nodes 1, 2, 3, 4
(1 )(1 )(1 9 )
for side nodes 7, 8, 11, 12 where 1 and
(1 )(1 )(1
j j j
j j j
j j
j j
N
j
N
j
N
q q q
q q q
q
q q
= + + +
=
= + +
= = =
= + +
1
3
9 )
for side nodes 5, 6, 9, 10 where and 1
j
j j
j

q = = =
(twelve node cubic element)
ELEMENT WITH CURVED
EDGES
4
2
3
8
1
5
7
6
1
4
2
5
3
6
1
2
3
4
5
6
1
2
3
4
5
6
7
8
COMMENTS (GAUSS INTEGRATION)
When the Gauss integration scheme is used, one has to
decide how many Gauss points should be used.
Theoretically, for a one-dimensional integral, using m
points can give the exact solution for the integral of a
polynomial integrand of up to an order of (2m1).
As a general rule of thumb, more points should be used for
higher order of elements.
COMMENTS (GAUSS
INTEGRATION)
Using smaller number of Gauss points tends to counteract
the over-stiff behaviour associated with the displacement-
based method.
Displacement in an element is assumed using shape
functions. This implies that the deformation of the element
is somehow prescribed in a fashion of the shape function.
This prescription gives a constraint to the element. The so-
constrained element behaves stiffer than it should be. It is
often observed that higher order elements are usually softer
than lower order ones. This is because using higher order
elements gives less constraint to the elements.
COMMENTS (GAUSS
INTEGRATION)
Two gauss points for linear elements, and two or three
points for quadratic elements in each direction should be
sufficient for many cases.
Most of the explicit FEM codes based on explicit
formulation tend to use one-point integration to achieve the
best performance in saving CPU time.
CASE STUDY
Side drive micro-motor
CASE STUDY
Elastic Properties of Polysilicon

Youngs Modulus, E

169GPa

Poissons ratio, u

0.262

Density,

2300kgm
-3


10N/m
10N/m
10N/m
CASE STUDY
Analysis no. 1: Von Mises stress
distribution using 24 bilinear
quadrilateral elements (41 nodes)
CASE STUDY
Analysis no. 2: Von Mises stress
distribution using 96 bilinear
quadrilateral elements (129 nodes)
CASE STUDY
Analysis no. 3: Von Mises stress
distribution using 144 bilinear
quadrilateral elements (185 nodes)
CASE STUDY
Analysis no. 4: Von Mises stress
distribution using 24 eight-nodal,
quadratic elements (105 nodes)
CASE STUDY
Analysis no. 5: Von Mises stress
distribution using 192 three-nodal,
triangular elements (129 nodes)
CASE STUDY
Analysis
no.

Number / type of
elements

Total number
of nodes in
model

Maximum
Von Mises
Stress (GPa)

1

24 bilinear,
quadrilateral

41

0.0139

2

96 bilinear,
quadrilateral

129

0.0180

3

144 bilinear,
quadrilateral

185

0.0197

4

24 quadratic,
quadrilateral

105

0.0191

5

192 linear,
triangular

129

0.0167