4 The standard discrete system and origins of the finite element method

y
y
x
x
p
p
Y4
X4
v3(V3)
u3(U3)
1 2
3 4
5 6
3
1
2
(1) Nodes
(1)
(2)
(3)
(4)
A typical element (1)
Fig. 1.1 A typical structure built up from interconnected elements.
displacements are defined by appropriate components (U, V and u, v) in a common coordinate
system (x, y).
Listing the forces acting on all the nodes (three in the case illustrated) of the element (1)
as a matrix we have
q1 =


q1
1
q1
2
q1
3


q1
1
=
_
U1
V1

, etc. (1.1)
and for the corresponding nodal displacements
u1 =


u11
u12
u13


u11
=
_
u1
v1

, etc. (1.2)
Assuming linear elastic behaviour of the element, the characteristic relationship will
always be of the form
q1 = K1u1 + f 1 (1.3)
in which f 1 represents the nodal forces required to balance any concentrated or distributed
loads acting on the element. The first of the terms represents the forces induced by displacement
of the nodes. The matrix Ke is known as the stiffness matrix for the element (e).
Equation (1.3) is illustrated by an example of an element with three nodes with the
interconnection points capable of transmitting only two components of force. Clearly, the
A limited knowledge of matrix algebra will be assumed throughout this book. This is necessary for reasonable
conciseness and forms a convenient book-keeping form. For readers not familiar with the subject a brief appendix
(Appendix A) is included in which sufficient principles of matrix algebra are given to follow the development
intelligently. Matrices and vectors will be distinguished by bold print throughout.