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The CR Formulation:
3D Bar Element
13–1
Chapter 13: THE CR FORMULATION: 3D BAR ELEMENT 13–2
§13.1 INTRODUCTION
The expressions developed in §12.4 become intractable for elements of arbitrary geometry, such
as curved shells or beams, because c and R are complicated functions of the element displacement
field, which is turn determined by u. Fortunately the CR approach is often used with elements of
simple geometry in which rotational freedoms, if any, may be ignored in defining the corotated
configuration. Under those conditions one can work out the transformation arrays T and G directly
from geometric arguments, without bothering to establish c and R. The transformations may be
then systematically applied to existing linear elements through a modular interface, as illustrated
in Figure 12.7.
In particular, for a simplex element it is possible to work out all transformation from the intrinsic
geometry of a line segment, triangle or tetrahedron moving in 3D space. (By “intrinsic” is meant
changes in edge lengths, face areas and volume dimensions.) For the line segment the formulas are
worked out and collected in the next sections as they apply to many types of finite elements. The
results may be specialized to two dimensions, if desired, by setting the third coordinate to zero.
It is important that the kinematic analysis be exact so that arbitrary rigid body motions can be
accomodated. Restrictions on deformations can then be made when considering specific elements,
particularly those with rotational DOFs.
Several of the following results are new. Their closed form derivation was made possible because of
the use of Mathematica to simplify abtruse algebraic expressions containing many symbolic terms.
uX2
uZ2
current C
2(x 2 ,y 2 ,z2)
1(x1 ,y1 ,z1)
uX1 Length L
uZ1
Y uY 2
uY 1
Length L0
10 (X1 ,Y1, Z1)
X
Z base CB
2 0 (X 2 ,Y2,Z2)
13–2
13–3 §13.2 LINE SEGMENT MOVING IN 3D
˙ = −(1/L 2 )L̂u̇,
1/L ¨ = (1/L 3 )u̇T (3L̂L̂T − I)u̇ − (1/L 2 )ü
1/L (13.15)
L L L
13–4
13–5 §13.3 THE CR BAR ELEMENT
N
1
current C L
corotated CR 2
N
Z
X Y 20
base CB
10 L0
˙ ¨ T
1/L 2 = −(2/L 3 )L̂u̇ L , 1/L 2 = (1/L 4 )u̇TL (8L̂L̂ − 2I)u̇ L − (2/L 3 )ü L (13.17)
T T
∂(1/L 2 ) ∂ 2 (1/L 2 ) 8L̂L̂ − 2I −8L̂L̂ + 2I
= −(2/L 3 ) [ −L̂ L̂ ] , = (1/L )
4
T T
∂u ∂u ∂u −8L̂L̂ + 2I 8L̂L̂ − 2I
(13.18)
The foregoing equations may be specialized to two-dimensional motions of a segment moving in the
{X, Y } plane by setting the Z component to zero and then removing that component from vectors
and matrices.
d̄ = L − L 0 (13.19)
The deformational stiffness is K̄ , which links the axial force N = p̄ to the elongation: N = K̄ d̄.
The energy and residual force equations are
= U − W = 12 K̄ d̄ 2 − N d̄, r = K̄ d̄ − f¯ = 0. (13.20)
13–5
Chapter 13: THE CR FORMULATION: 3D BAR ELEMENT 13–6
The necessary transformations are those already worked out for the line segment in §3.1, since
length L and change in length L − L 0 transform by the same relations because L 0 is fixed. The
partials of the elongation d with respect to u = [ u X 1 u Y 1 u Z 1 u X 2 u Y 2 u Z 2 ]T are
∂d 1
T= = [ −L X −L Y −L Z LX LY L Z ]T = [ −L̂ L̂ ]T (13.21)
∂u L
and
∂ 2d
G=
∂u ∂u
2
L Y + L 2Z −L Y L X −L X L Z −L 2Y − L 2Z LY L X LX LZ
−L Y L X L 2Z + L 2X −L Y L Z L Y L X −L 2Z − L 2X LY L Z
1 −L Z L X
−L Z L Y LY + L X
2 2
LZ LX L Z LY −L 2Z − L 2X H −H
= 3 =
L −L 2Y − L 2Z −L Y L X −L X L Z L 2Y − L 2Z −L Y L X −L X L Z −H H
L Y L X −L Z − L X
2 2
LY L Z LY L X LZ + LX
2 2
LY L Z
LZ LX L Z LY −L Y − L X −L Z L X
2 2
−L Z L Y L Z + L 2X
2
(13.22)
Here L X , L Y and L Z are the projections of L on the {X, Y, Z } axes. Consequently
f = TT f¯, (13.23)
K = TT K̄ T + N G = K M + KG . (13.24)
and the element is done. The geometric stiffness is the same as that of UL element with engineering
strains, and is quite complicated.
The formulation of the mass and damping matrices for dynamic analysis is not provided here.
REMARK 13.1
A simpler geometric stiffness can be obtained by taking the internal bar energy as
L 2 − L 20
U = 12 k L 20 e2 , e= (13.25)
2L 20
Here e is the Green-Lagrange axial strain. The deformational degree of freedom is taken to be d̄ = L 0 e.
Now T turns out to be the same, but KG = N G is much simpler as a glance to (3.14) reveals. It is in fact the
geometric stiffness of the GL bar developed through the CCF [11]. This observation shows that “tweaking” the
deformational energy can result in simpler elements. The change from d̄ = L − L 0 to d̄ = (L 2 − L 20 )/2L 0 is
acceptable within the assumption of small deformations as readily shown by a Taylor expansion about d̄ = 0.
13–6
13–7 Exercises
To be added later.
13–7