THE FINITE ELEMENT METHOD

CHAPTER 5
FEM FOR FRAMES

1
CONTENTS
 INTRODUCTION
 FEM EQUATIONS FOR PLANAR FRAMES
 Equations in local coordinate system
 Equations in global coordinate system
 FEM EQUATIONS FOR SPATIAL FRAMES
 Equations in local coordinate system
 Equations in global coordinate system
 REMARKS

2
 INTRODUCTION
 Frame members are loaded axially and
transversely.
 It is capable of carrying, axial, transverse forces, as
well as moments.
 Frame elements are applicable for the analysis of
skeletal type systems of both planar frames (2D
frames) and space frames (3D frames).
 Known generally as the beam element or general
beam element in most commercial software.

3
FEM EQUATIONS FOR PLANAR FRAMES

Consider a planar frame element

 d1   u1  
d   v  
 2  1   diplacement components at node 1
 d    

d e   3    z1 
 d 4   u2   y, v
 d5   v2   diplacement components at node 2 x, , u

     node 2
d 6   z 2  
Y, V
(u2, v2, z2)
z
node 1
(u1, v1, z1) l=2a

? X, U
z 4
EQUATIONS IN LOCAL COORDINATE SYSTEM
y, v
x, , u
node 2
Truss + Beam z
(u2, v2, z2)

node 1
(u1, v1, z1) l=2a

 d1   u1  From the truss element,

d   v  Truss
 2  1  d1  u1 d 4  u2
 d   
d e   3    z1   
 d 4   u2 
 d5   v2  Beam  AE
2a 0 0  AE
2a 0 0   d1  u1
     0 0 
d 6   z 2   0 0 0
 0 0 0 0
k truss  
0 0   d 4  u2
e AE
 2a
 sy. 0 0
(Expand to 6x6)  
 0 
5
EQUATIONS IN LOCAL COORDINATE
y, v
SYSTEM
x, , u
node 2
From the beam element (u2, v2, z2)
z
(Expand to 6x6) node 1
(u1, v1, z1) l=2a

d 2 (v1 ) d3 ( z1 ) d5 (v2 ) d 6 ( z 2 )
   
0 0 0 0 0 0 
 3 EI z 3 EI z
0  32EIa3z 3 EI z 
 2 a3 2 a2 2 a 2   d 2  v1
 2 EI z
0  32EIa2z EI z 
 d 3   z1
 
a a
k beam
e
 0 0 0 
 
 sy. 3 EI z
2 a3
 32EIa2z   d5  v2
 2 EI z 
 a   d 6   z 2 6
EQUATIONS IN LOCAL COORDINATE SYSTEM
 AE 0 0  AE 0 0 0 0 0 0 0 0 

2a 2a
 3 EI z 
0 0  32EIa3z
3 EI z 3 EI z

 0 0 0 0  2a 3
2 a2 2 a2 

 0 0 0 0  2 EI z
0  32EIa2z EI z 

ke    
truss

a a
+ k beam

AE
2a 0 0 e
 0 0 0 
 0  
sy. 0
 sy. 3 EI z
 32EIa 2z 
  2 a3
 0  2 EI z 
 a 

 AE
2a 0 0  AE
2a 0 0 
 3 EI z 3 EI z
0  32EIa 3z 3 EI z 
 2a 3
2a 2
2a2 
 2 EI z
0  32EIa 2z EI z

 ke   a
AE
a

 2a 0 0 
 sy. 3 EI z
 32EIa 2z 
 2a3
2 EI z

 a 
7
EQUATIONS IN LOCAL COORDINATE SYSTEM

Similarly so for the mass matrix

70 0 0 35 0 0 
 78 22 a 0 27  13 a 
 
Aa  0 13a  6a 
2 2
8a
me   
105  70 0 0 
 sy. 78  22a   f x a  f sx1 
 2 
 8a   f a f 
 y sy1 

 f y a2  m 
 s1 
 And for the force vector, fe   3 
 xf a  f sx 2 
 f y a  f sy 2 
 
 3  ms 2 
f y a2
8
EQUATIONS IN GLOBAL COORDINATE SYSTEM
Y D3j - 1
Coordinate transformation y
x
v2
u2
x

z2
Similar to trusses o  X
D3j D3j -2

global node j
local node 2
d e  TD e v1 D3i-1
u1
global node i D2j
z1
local node 1
where D3i 0 D3i -2
2a

 D3i  2  l x mx 0 0 0 0
D  l my 0 0 0 0
 3i 1  y
 D3i  0 0 1 0 0 0
De  
D
 , T   
 3 j  2  0 0 0 lx mx 0
 D3 j 1 
  0 0 0 ly my 0
 D3 j   
 0 0 0 0 0 1
9
EQUATIONS IN GLOBAL COORDINATE SYSTEM
Y D3j - 1
v2 x
y u2
x
z2
D3j -2
Direction cosines in T:  X
D3j
o
global node j
X j  Xi local node 2
lx  cos( x, X )  cos   v1 D3i-1
le u1
D2j
global node i z1
Y j  Yi local node 1 
mx  cos( x, Y )  sin  
2a
D3i 0 D3i -2
le

Y j  Yi
l y  cos( y, X )  cos(90   )   sin   
le
X j  Xi
my  cos( y, Y )  cos  
le

le  ( X j  X i )2  (Y j  Yi )2 (Length of element)
10
EQUATIONS IN GLOBAL COORDINATE SYSTEM

Finally, we have
l x mx 0 0 0 0
K e  T k eT
T l
y my 0 0 0 0
0 0 1 0 0 0
Me  T meT
T T 
0 0 0 lx mx 0
0 0 0 ly my 0
Fe  T f e
T

 0 0 0 0 0

1

11
FEM EQUATIONS FOR SPATIAL FRAMES
Consider a spatial frame element
v2

 d1   u1   u2
y2
d   v   v1
 2  1   2 x2
 d3   w1   Displacement
     components at y1 w2
 d 4   x1   node 1
 d5   y1   z2
    
 d 6   z1   1
de      
 d 7   u2   w1 y
 u1
 d8   v2 
     z1 x
 d9   w2   Displacement x1
d     components at
 10   x 2   node 2 z
 d11   y 2 
d   
 12   z 2 


 ? 12
EQUATIONS IN LOCAL COORDINATE SYSTEM
Truss + beam
v2
u1 v1 w1  x1  y1  z 1 u2 v2 w2  x2  y2 z2 u2
y2
            v1
2 x2
 AE
2a 0 0 0 0 0  AE
2a 0 0 0 0 0  y1 w2
 3 EI z
0 0 0 3 EI z
0 3 EI z
0 0 0 3 EI z 
z2
 2 a3 2 a2 2 a3 2 a2 
 3 EI y 3 EI y 3 EI y 3 EI y  1
 2 a3
0 2 a2
0 0 0 2 a3
0 2 a2
0  w1
u1 y
 GJ
0 0 0 0 0  GJ
0 0  z1 x
 2a 2a
 x1
 2 EI y
0 0 0
3 EI y
0
EI y
0 
 
2
a 2a a z
3 EI z
 
2 EI z EI z
0 2 a2
0 0 0
ke   a
AE
a

 2a 0 0 0 0 0 
 3 EI z
0 0 0 3 EI z 

 2 a3 2 a2

 sy.
3 EI y
0
3 EI y
0 
 
3
2a 2 a2

 GJ
2a 0 0 
 2 EI y 
 a
0 
 2 EI z 
 a 
13
EQUATIONS IN LOCAL COORDINATE SYSTEM
70 0 0 0 0 0 35 0 0 0 0 0 
 78 0 0 0 22a 0 27 0 0 0  13a 
 78 0  22a 0 0 0 27 0 13a 0 
 
 70rx 2
0 0 0 0 0  35rx 2
0 0 
 8a 2 0 0 0  13a 0  6a 2 0 
Aa  8a 2 0 13a 0 0 0  6a 2 
me   
105  70 0 0 0 0 0 
 78 0 0 0  22a 
 78 0 22a 0 
 2 
 sy . 70 rx 0 0 
 0 
2
8a
 8a 2 

Ix
where r x
2

A
14
EQUATIONS IN GLOBAL COORDINATE SYSTEM
D6j-4
D6j-1
d8
d11 d7
d10 D6j-5
3 2
y
d9 D6j-2
x d12
D6i-4 D6j
D6i-1
z
d2 D6j-3
d5 d1
d4
D6i-5 Y
1 y
d6
d3 D6i-2 x
D6i
X
D6i-3 z

Z 15
EQUATIONS IN GLOBAL COORDINATE SYSTEM

Coordinate transformation
d e  TD e
where
 D6 i  5 
D 
 6i  4 
 D6 i  3 
 
D
 6i  2 
T3 0 0 0
 D6i 1 
0 l x mx nx 
 
0 
T3  l y n y 
 6i  T3 0
, T   0
D
De    my
 D 6 j  5  0 T3 0
 D6 j  4    l z mz n z 
  0 0 0 T3 
 6 j 3 
D
 D6 j  2 
 
 6 j 1 
D
D 
 6j  16
EQUATIONS IN GLOBAL COORDINATE SYSTEM

Direction cosines in T3

l x mx nx 

T3  l y my ny 
l z mz n z 

lx  cos( x, X ), mx  cos( x, Y ), nx  cos( x, Z )

l y  cos( y, X ), my  cos( y, Y ), n y  cos( y, Z )
lz  cos( z, X ), mz  cos( z, Y ), nz  cos( z, Z )
17
EQUATIONS IN GLOBAL COORDINATE SYSTEM
Vectors for defining location and orientation of
frame element in space  3
2
y
      
V3  V1 y 
V1  X 1 X  Y1Y  Z1Z x
   
V2  X 2 X  Y2Y  Z 2 Z

    z
V3  X 3 X  Y3Y  Z 3 Z   V3
V2  V1 
V2
    
V2  V1  X 21 X  Y21Y  Z 21Z 1
Y
V1
    
V3  V1  X 31 X  Y31Y  Z 31Z
   
  (V2  V1 )  (V3  V1 ) X
l  2a  V2  V1  X 21
2
 Y212  Z 21
2

X kl  X k  X l 

Ykl  Yk  Yl  k, l = 1, 2, 3
Z kl  Z k  Z l  Z 18
EQUATIONS IN GLOBAL COORDINATE SYSTEM
 Vectors for defining location and orientation
of frame

element in space (cont’d) 
y 3
2

 (V  V ) X  Y  Z    
x  2 1  21 X  21 Y  21 Z V3  V1 x
V2  V1 2a 2a 2a
  X 21
l x  cos( x, X )  x  X  
2a z
  Y   V3
mx  cos( x, Y )  x  Y  21 V2  V1 
2a V2
  Z 21 Y
nx  cos( x, Z )  x  Z  1 V1
2a
   
 (V  V )  (V3  V1 ) X
z  2 1      
(V2  V1 )  (V3  V1 ) (V2  V1 )  (V3  V1 )
 1   
z {(Y21Z 31  Y31Z 21 ) X  ( Z 21 X 31  Z 31 X 21 )Y  ( X 21Y31  X 31Y21 ) Z }
2 A123
Z
A123  (Y21Z 31  Y31Z 21 ) 2  (Z 21 X 31  Z 31 X 21 ) 2  ( X 21Y31  X 31Y21 ) 2
19
EQUATIONS IN GLOBAL COORDINATE SYSTEM
 Vectors for defining location and orientation
of frame element in space (cont’d) 2
1 
lz  z  X  (Y21Z 31  Y31Z 21 ) y 3
2 A123   
V3  V1 x
1
mz  z  Y  ( Z 21 X 31  Z 31 X 21 )
2 A123

1 z
nz  z  Z  ( X 21Y31  X 31Y21 )   V3
2 A123 V2  V1 
V2
  
y  zx 1 V1
Y

l y  mz nx  nz mx    
X
(V2  V1 )  (V3  V1 )
m y  nz l x  l z nx
n y  l z mx  mz l x
Z
20
EQUATIONS IN GLOBAL COORDINATE SYSTEM

Finally, we have T3 0 0 0

0 T3 0 0 
T
K e  T k eT
T 0

0 T3 0

0 0 0 T3 

Me  T meT T

l x mx nx 
Fe  T f eT
T3  l y my n y 
l z mz n z 

21
QUESTION REVIEW

 1. Explain why the superposition technique

can be used to formulate the frame
elements simply using the formulations of
the truss and beam elements. On what
conditions this superimposition technique
will fail.
ANSWER
 The frame element has properties of both the truss element
and the beam element carrying loads in the axial directions as
well as the transverse directions. As such, the frame elements
will have axial translations (like the truss), transverse
translation and rotation in the x-y plane about the z-axis (like
the beam) as its degrees of freedom. Since small deformation
is assumed, so that the axial translational deformation does
not affect the transverse deformation, and the transverse
deformation does not affect the axial deformation, the
superposition technique can be applied to formulate the
equations for the frame elements.
QUESTION REVIEW

 2. In the transformation from the local

coordinate system to the global coordinate
system in a planar frame, does the rotation
degree of freedom undergo any
transformation ? Why?

The Finite Element Method by G. R. Liu and S. S. Quek

EXAMPLE

Work out the displacements of the planar frame structure

shown in Figure above. All the members are of the same
material (E = 69.0GPa, ν = 0.33) and with circular
cross-sections. The areas of the cross-sections are 0.01m2.
25
26
STEPS

 Step 1: Obtaining the direction cosines of the

elements
 Step 2: Calculation of element matrices in
global coordinate system
 Step 3: Assembly of global FE matrices

 Step 4: Applying boundary conditions

 Step 5: Solving the FE matrix equation

27
 lP  0.5 500 
d1 2    7.246  107 m
EA 69  109  0.005

 Step 1: Obtaining the direction cosines of

the elements
Global node corresponding Coordinates in global
Direction cosines using Eq. (4.21)
to coordinate system

Element
number
local node local node 2
Xi, Yi Xj, Yj lx mx ly my
1 (i) (j)

1 1 2 0, -0.5 0, 0 0 1 -1 0

2 2 3 0, 0 0.5, 1.0 0.447 0.894 -0.894 0.447

28
Due to the symmetry, nodes 1 and 2 can only move
vertically. As the external force is also vertical, the
displacement of node 1 relative to node 2 can be obtain
straight away as

and the stress in bar 1 is

29
  Step 2: Calculation of element matrices in
global coordinate system

The stiffness matrix for each element in the local coordinate system

30
the stiffness matrix in the global coordinate system for
each element is

31
 Step 3: Assembly of global FE matrices
 The assembly is done by adding up the contributions for
each node by the elements that share the node.

32
 Step 4: Applying boundary conditions

 In this case,D1 = D3 = D4 = D6 = D7 = D8 = D9 =
0
 Hence, we can simply remove the corresponding
rows and columns.

33
 The condensed global matrix becomes a 2x2
matrix

 The constrained global FE equation is

 KD = F

34
 Step 5: Solving the FE matrix equation


 D2 =1.716 D5
 D2 =-1.0121×10-6 m
 D5 =-1.7367×10-6 m


35
 CASE STUDY
 Finite element analysis of bicycle frame

36
CASE STUDY
Young’s modulus, Poisson’s ratio,
E GPa 

69.0 0.33

74 elements (71 nodes)

Ensure connectivity
37
CASE STUDY

Horizontal load

Constraints in all directions

38
CASE STUDY

M = 20X

39
 CASE STUDY

Axial stress

-9.68 x 105 Pa

-6.264 x 105 Pa
-6.34 x 105 Pa

9.354 x 105 Pa

-6.657 x 105 Pa

-1.214 x 106 Pa
-5.665 x 105 Pa

40
ELEMENT MATRICES
a 2 T 
2
k e   B cBdV  E  y dA
T 2
( 2 N) ( 2 N)dx
V A
a x x
1 1 2 T 
2
EI z 1
 EI z  [ 2 N] [ 2 N]ad  3  N T N d
1 a 
4
 a 1

 N1N1 N1N 2 N1N3 N1N 4 

 N N  N 2N 2 N 2N 3 N 2N 4 
EI 1
 2 1
k e  3z
a 
1  N3N1 N3N 2 N3N3 N3N 4 
d
 
 N 4N1 N 4N 2 N 4N 3 N 4N 4 

Evaluate  3 3a 3 3a 
 4a 2  3a 2a 2 
integrals EI z 
ke  3
2a  3  3a 
 
 sy. 4a 2 
41
ELEMENT MATRICES
a 1
m e   N NdV    dA
T
N Ndx   A
T
NT Nad
a 1
V A

 N1 N1 N1 N 2 N1 N 3 N1 N 4 
N N N2 N2 N 2 N3 N 2 N 4 
 2 1
1
  Aa  d
1  N 3 N1 N3 N 2 N3 N3 N3 N 4 
 
 N 4 N1 N4 N2 N 4 N3 N 4 N 4 

Evaluate  78 22a 27  13a 

integrals  8a 2 13a  6a 2 
Aa 
me 
105  78  22a 
 2 
 sy . 8a 

42
ELEMENT MATRICES

 N1   f s1   f y a  f s1 
     f y a2 
1 N2
   ms1   3  ms1 
fe   N fb dV   N f s dS f  f y a 
T T
d      
1  N  f f a  f
3  s2   y s2 
 
V Sf

 4 
N  m  
 s 2   3  ms 2 
f y a2

  f
k ed e  m ed e e

43