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Lecture 4 Announcement: ABAQUS tutorial will be given between 6-8 PM on September 18 (Monday). FEM interpolation functions: 1D FEM:

w( x ) = a1 + a 2 x (linear interpolation)

Element types in 2D:

3 noded triangle (linear element)

w( x, y ) = a1 + a2 x + a3 y

x
6 noded triangle

w( x, y ) = a1 + a2 x + a3 y + a4 xy + a5 x 2 + a6 y 2

4 noded quadrilateral

w( x, y ) = a1 + a2 x + a3 y + a4 xy

8 noded quadrilateral

w( x, y ) = a1 + a2 x + a3 y + a4 xy + a5 x 2 + a6 y 2 + a7 x 2 y + a8 xy 2

Element types in 3D:

4 noded tetrahedron (linear element)

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w( x, y, z ) = a1 + a2 x + a3 y + a4 z

10 noded tetrahedron

w( x, y, z ) = a1 + a2 x + a3 y + a4 z + a5 xy + a6 yz + a7 xz

+ a8 x 2 + a9 y 2 + a10 z 2

x
Integration points for stress: 1D:

integration points

2D:

Material behavior

= E (Hookes law is valid before materials yield at a critical strain beyond which
irreversible plastic deformation begins to accumulate)

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Y
E

0
Typically:

Yield strain:

Y 0.2%
11

Youngs modulus: E p 10 Possions ratio:

N/m 2 = 100 GPa (210 GPa for Steel)

p 1 4 ~ 1 3 (1/3 for steel)

&& MU + KU = F

M , K are positive definite matrices. In numerical calculations such as FEM, it is very

important to eliminate rigid body motion. Otherwise, the stiffness matrix will have zero eigenvalues and becomes non-positive definite. This is especially problematic for static problems since we are solving

KU = F
(Can you explain why?) Example 1:

F 2
(ill-defined BC) Example 2:

F 2

ux = u y = 0

uy = 0
(well-defined)

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uy = 0
(ill-defined) (End of FEM introduction)

ux = u y = 0
(well-defined)

uy = 0

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2. Mathematical Background

Displacements Stresses Strains

1D to 3D:

u
v

v u = u plus direction)

v u
u

In 3D problems, u is a vector (magnitude

Summation of vectors:

v v a +b v b v a
v v a b v v b a
5

Subtraction of vectors:

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Dot product (or scalar product) of vectors:

v v a b = ab cos
If a b = 0 , a is to b ( = 90 o )

v v

Cross product (or vector product) of vectors:

v v a b = ab sin

v v a b

v a
To define a vector, we need a coordinate.

v b

v x3 e3

u3
v u

u2 v x1 e1 u1

v x2 e2

v v v e1 , e2 , e3 are defined as base vectors.

v v v e1 = e2 = e3 = 1 .

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3 v v v v v v u = u1e1 + u2 e2 + u3e3 = u k ek = u k ek (Einstein Summation Convention) k =1

Note that the index k is completely arbitrary. It is just a notation for summation over 1, 2, 3. One could alternatively write

r v v v u = u k e k = u i ei = u j e j = L
Index notation Matrix notation

Vectors:

ui

u1 u 2 u3 A11 A 21 A31 A12 A22 A32 A13 A23 A33

Matrices:

Aij

For base vectors e1 , e2 , e3

v v v v v v e1 e1 = 1 , e1 e2 = 0 , e1 e3 = 0 v v v v v v e2 e1 = 0 , e2 e2 = 1 , e2 e3 = 0
v v v v v v e3 e1 = 0 , e3 e2 = 0 , e3 e3 = 1
in more concise form

v v 1, i = j ei e j = = ij 0, i j
where ij is called Kronecker Delta. In matrix notation

1 0 0 ij = 0 1 0 0 0 1
which is called the Identity Matrix because

1 0 0 u1 u1 0 1 0 u = u 2 2 0 0 1 u 3 u 3
We can also perform the calculation by using index notation:
7

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ij ui = ij ui =u j
i =1

Dot product of u = ui ei and v = v j e j :

By index notation:

v v v v v v u v = (ui ei ) (v j e j ) = ui v j (ei e j ) = ui v j ij = ui vi = u1v1 + u 2 v2 + u3v3

By matrix notation:

v v u v [u1 u 2

v1 u 3 ] v 2 = u1v1 + u 2 v 2 + u 3 v3 v3

More examples of calculations using index notation: 1) ii =

i =1

ii

=11 + 22 + 33 = 3

2) ij ij = ii = 3 3) ij jk = ik
3

4) Aij B jk =

A B
i =1 ij

jk

A11 is the index notation of A21 A31

A12 A22 A32

A13 B11 A23 B21 A33 B31

B12 B22 B32

B13 B23 . B33