MANE 4240 & CIVL 4240

Introduction to Finite Elements

Prof. Suvranu De

Mapped element geometries

and shape functions: the
isoperimetric formulation

Reading assignment:
Chapter 10.1-10.3, 10.6 + Lecture notes
Summary:
Concept of isoparametric mapping
1D isoparametric mapping
Element matrices and vectors in 1D
2D isoparametric mapping : rectangular parent elements
2D isoparametric mapping : triangular parent elements
Element matrices and vectors in 2D

For complex geometries

2002 Brooks/Cole Publishing / Thomson Learning

General quadrilateral elements

Elements with curved sides

Consider a special 4-noded rectangle in its local coordinate

system (s,t)
2
1
1
3

t
1

Displacement interpolation
u N 1u1 N 2 u 2 N 3u 3 N 4 u 4

s
4

v N 1v1 N 2 v 2 N 3 v3 N 4 v 4

Shape functions in local coord system

1
N 1 ( s, t ) (1 s )(1 t )
4
1
N 2 ( s, t ) (1 s )(1 t )
4
1
N 3 ( s, t ) (1 s )(1 t )
4
1
N 4 ( s, t ) (1 s )(1 t )
4

Recall that

N1 N 2 N 3 N 4 1

Rigid body modes

N 1 s1 N 2 s 2 N 3 s3 N 4 s 4 s
N 1 t1 N 2 t 2 N 3 t 3 N 4 t 4 t

Constant
strain states

Goal is to map this element from local coords to a general

t
quadrilateral element in global coord system
2
t
2
1
x x ( s, t )
1
y
1
1
y y ( s, t )
1
3
s
s
1
s s ( x, y )
s
4
4
3
t t ( x, y )
x
Local coordinate system
Global coordinate system

N 1 ( s, t )

N 1 ( x, y )

N 1 ( s, t ) N 1 ( s ( x, y ), t ( x, y )) N 1 ( x, y )

In the mapped coordinates, the shape functions need to satisfy

1. Kronecker delta property
1 at node i
Ni
0 at all other nodes

Then

2. Polynomial completeness

N x
i

N y
i

The relationship
x N i ( s, t ) x i
i

y N i ( s, t ) y i
i

Provides the required mapping from the local coordinate system

To the global coordinate system and is known as isoparametric
mapping
(s,t): isoparametric coordinates
(x,y): global coordinates

Examples

t
1
1

1
s

y
x

s
t

1
s
1

y
x

1D isoparametric mapping
3 noded (quadratic) element
1

3
1

2
1

Local (isoparametric)
coordinates
s 1 s
N1 (s)
2
s 1 s
N 2 ( s)
2
N 3 (s) 1 s 2

x1

x3 x2

Isoparametric mapping
3

x N i ( s ) xi
i 1

s 1 s
s 1 s
x1
x 2 1 s 2 x3
2
2

NOTES
1. Given a point in the isoparametric coordinates, I can obtain the
corresponding mapped point in the global coordinates using the
isoparametric mapping equation
x

s 1 s
s 1 s
x1
x 2 1 s 2 x3
2
2

At s 1; x x1
At s 0; x x3
At s 1; x x 2
Question
x=? at s=0.5?

2. The shape functions themselves get mapped

In the isoparametric coordinates (s) they are polynomials.
In the global coordinates (x) they are in general nonpolynomials
Lets consider the following numerical example

x1 0; x 2 6; x3 4

4
1

Isoparametric mapping x(s)

x

s 1 s
2
s 1 s

x1
0

2
4 3s s 2

s 1 s

2
s 1 s
2

2
3

x
2

x2 1 s 2 x3

6 1 s2 4

Simple polynomial

Inverse mapping s(x)

s

3 25 4 x
2

Complicated function

Now lets compute the shape functions in the global coordinates

s 1 s
2
1 3 25 4 x
3 25 4 x

2
2
2

1
10 x 2 25 4 x
2
N 2 ( x)

N 2 (s)

Now lets compute the shape functions in the global coordinates

N2(x)

N2(s)
1

3
1

2
1

4
s

N2(s) is a simple polynomial

s 1 s
N 2 (s)
2

2
3

N2(x) is a complicated function

N 2 ( x)

1
10 x 2 25 4 x
2

However, thanks to isoparametric mapping, we always ensure

1. Knonecker delta property
2. Rigid body and constant strain states

Element matrices and vectors for a mapped 1D bar element

3
1

2
1

x
s

Displacement interpolation u N1u1 N 2 u 2 N 3 u 3 N d

Strain-displacement relation
Stress E E B d

dN
dN
du dN 1

u1 2 u 2 3 u 3 B d
dx dx
dx
dx

dN 1 dN 2 dN 3
The strain-displacement matrix B dx dx dx

The only difference from before is that the shape functions are in the
isoparametric coordinates
s 1 s
2
s 1 s
N 2 (s)
2
N 3 (s) 1 s 2
N1 (s)

We know the isoparametric mapping

3

x N i ( s ) xi
i 1

And we will not try to obtain explicitly the inverse map.

How to compute the B matrix?

Using chain rule

dN i ( s ) dN i ( s) ds

dx
ds dx

Do I know

dN i ( s )
?
ds

Do I know

ds
?
dx

(*)

x N i ( s ) xi

I know

i 1
3

dN ( s)
Hence dx i xi J ( Jacobian of mapping )
ds

From (*)

i 1

ds

dN i ( s )
dx

1 dN i ( s )

J ds

What does the Jacobian do?

dx

J ds

Maps a differential element from the isoparametric coordinates to

the global coordinates

The strain-displacement matrix

dN 1 dN 2 dN 3
B

dx dx dx
1 dN 1 dN 2 dN 3

J ds ds ds
For the 3-noded element
dN i ( s)
2s 1
2s 1
J
xi
x1
x 2 2sx3
ds
2
2
i 1
3

1 2s 1 2s 1

2
s

J 2
2

The element stiffness matrix

x2

k EA B B dx
T

x1

EA B B Jds dx Jds
T

NOTES
1. The integral on ANY element in the global coordinates in now an
integral from -1 to 1 in the local coodinates
2. The jacobian is a function of s in general and enters the integral.
The specific form of J is determined by the values of x1, x2 and x3.
Gaussian quadrature is used to evaluate the stiffness matrix
3. In general B is a vector of rational functions in s

Isoparametric mapping in 2D: Rectangular parent elements

2002 Brooks/Cole Publishing / Thomson Learning

Parent element
Isoparametric mapping

Mapped element in
global coordinates

x N i ( s, t ) xi
i

y N i ( s, t ) y i
i

Shape functions of parent element in isoparametric

coordinates
1
(1 s )(1 t )
4
1
N 2 ( s, t ) (1 s )(1 t )
4
1
N 3 ( s, t ) (1 s )(1 t )
4
1
N 4 ( s, t ) (1 s )(1 t )
4
N1 ( s, t )

Isoparametric mapping
x N i ( s, t ) xi
i

y N i ( s, t ) y i
i

NOTES:
1. The isoparametric mapping provides the map (s,t) to (x,y) , i.e.,
if you are given a point (s,t) in isoparametric coordinates, then
you can compute the coordinates of the point in the (x,y)
coordinate system using the equations
x N i ( s, t ) xi
i

y N i ( s, t ) y i
i

2. The inverse map will never be explicitly computed.

8-noded Serendipity element

2002 Brooks/Cole Publishing / Thomson Learning

t 7

3
6

8
1
1

8-noded Serendipity element: element shape functions in

isoparametric coordinates
1
1
N1 ( s, t ) (1 s )(1 t )( s t 1) N 5 ( s, t ) (1 t )(1 s )(1 s )
4
2
1
1
N 2 ( s, t ) (1 s )(1 t )( s t 1) N 6 ( s, t ) (1 t )(1 t )(1 s )
4
2
1
1
N 3 ( s, t ) (1 s )(1 t )( s t 1) N 7 ( s, t ) (1 t )(1 s )(1 s )
4
2
1
1
N 4 ( s, t ) (1 s )(1 t )( s t 1) N 8 ( s, t ) (1 s )(1 t )(1 t )
4
2

NOTES
1. Ni(s,t) is a simple polynomial in s and t. But Ni(x,y) is a complex
function of x and y.
2. The element edges can be curved in the mapped coordinates
3. A midside node in the parent element may not remain as a
midside node in the mapped element. An extreme example
2

t 5

6
1
3

2,6,3

5
8
7

4. Care must be taken to ensure UNIQUENESS of mapping

2
2
1
1
3

t
1

1
3
s
4
4

Isoparametric mapping in 2D: Triangular parent elements

t

2
1

s
3

Parent element: a right angled

triangles with arms of unit length
Key is to link the isoparametric
coordinates with the area coordinates

P(s,t)
t
1

1
2
t

2
s

2
1

(1 s t )
2

123
P 31
P 23
P12

L1

P 23
s
123

L2

P 31
t
123

L3

P12
1 s t
123

Now replace L1, L2, L3 in the formulas for the shape functions of
triangular elements to obtain the shape functions in terms of (s,t)
2 (x2,y2)

Example: 3-noded triangle

2 t

1
1
3

Parent shape functions

3 (x3,y3)
x

1 (x1,y1)

Isoparametric mapping

N1 s

x N 1 ( s, t ) x1 N 2 ( s, t ) x 2 N 3 ( s, t ) x3

N2 t

y N 1 ( s, t ) y1 N 2 ( s, t ) y 2 N 3 ( s, t ) y 3

N3 1 s t

Element matrices and vectors for a mapped 2D element

Recall: For each element
Displacement approximation

uNd

Strain approximation

Bd

Stress approximation

DB d

Element stiffness matrix

k e B D B dV
T

Element nodal load vector

f e N X dV e N T S dS
V
ST
T

ST
e

In isoparametric formulation
1. Shape functions first expressed in (s,t) coordinate system
i.e., Ni(s,t)
2. The isoparamtric mapping relates the (s,t) coordinates with the
global coordinates (x,y)
x N i ( s, t ) xi
i

y N i ( s, t ) y i
i

3. It is laborious to find the inverse map s(x,y) and t(x,y) and we do

not do that. Instead we compute the integrals in the domain of the
parent element.

NOTE
1. Ni(s,t) s are already available as simple polynomial functions
2. The first task is to find N i and N i
y
x
Use chain rule
N i ( x, y )
N i

s
x
N i ( x, y )
N i

t
x

N i
x

s
y
N i
x

t
y

y
s
y
t

In matrix form
N i
s
N
i

x
s

N i
x
N
i

This is known as the

Jacobian matrix (J)
for the mapping
(s,t) (x,y)

Can be
computed
N i
s
N
i

y
s
y

N i
x
J N
i

We want to
compute these
for the B matrix

 N i
x
N
i

N i
1
J s
N i

How to compute the Jacobian matrix?

Start from
x N ( s, t ) x

y N i ( s, t ) y i
i

N ( s, t )
N ( s, t )
x
x
i
xi ;
i
xi
s
s
t
t
i
i
N i ( s, t )
N i ( s, t )
y
y

yi ;

yi
s
s
t
t
i
i

 x
s
J
x

y
s
y

t
N i ( s, t )
xi

s
i
N i ( s, t )
xi

t
i

N i ( s, t )

s
i

N i ( s, t )
yi

t
i

Need to ensure that det(J) > 0 for one-to-one mapping

3. Now we need to transform the integrals from (x,y) to (s,t)

Case 1. Volume integrals

Ve

f ( s, t ) dV e f ( s, t ) h dA
A

1 1

f (s, t ) h det( J ) dsdt

1 1

h=thickness of element
This depends on the key result
dA dxdy det( J ) dsdt

Problem: Consider the following isoparamteric map

1
2
t
(6,6)
(3,6)
2
1
1
1
1
s
1
y
4
3
4
3
(3,1)
(6,1)
ISOPARAMETRIC COORDINATES
x
GLOBAL COORDINATES

Displacement interpolation
u N 1u1 N 2 u 2 N 3 u 3 N 4 u 4
v N 1v1 N 2 v 2 N 3 v3 N 4 v 4
Shape functions in isoparametric coord system
1
N 1 ( s, t ) (1 s )(1 t )
4
1
N 2 ( s, t ) (1 s )(1 t )
4
1
N 3 ( s, t ) (1 s )(1 t )
4
1
N 4 ( s, t ) (1 s )(1 t )
4

The isoparamtric map

x N1 ( s, t ) x1 N 2 ( s, t ) x2 N 3 ( s, t ) x3 N 4 ( s, t ) x4
y N1 ( s, t ) y1 N 2 ( s, t ) y2 N 3 ( s, t ) y3 N 4 ( s, t ) y4

(1 s )(1 t )
(1 s )(1 t )
(1 s)(1 t )
(1 s)(1 t )
6
3
3
6
4
4
4
4
3(1 s )

2
(1 s )(1 t )
(1 s )(1 t )
(1 s)(1 t )
(1 s)(1 t )
y
6
6
1
1
4
4
4
4
7 5t

In this case, we may compute the inverse map, but we will NOT do that!

The Jacobian matrix

y
x
s
s
J

y
x
t
t
3

0
2

5
0

3(1 s )
2
7 5t
y
2

since

NOTE: The diagonal terms are due to stretching of the sides along the x-and ydirections. The off-diagonal terms are zero because the element does not shear.

2/3
0

J 1

2/5

and

det( J )

15
4

Hence, if I were to compute the first column of the B matrix along the
positive x-direction
N1

B1
0
N
1

I would use
N1
x
N
1

y
Hence

N1
1 s
J

N1
t

N1

B1
0
N
1

2/3
0

1 t

1 s

10

1 t
1 t

0 4
6

2 / 5
1 s
1 s
10
4

The element stiffness matrix

k

B D B dV
e

1 1

BT D B det( J )hdsdt