Introduction to Finite Elements Methods

Introduction to the Stiffness

(Displacement) Method:
Analysis of a system of springs
FEM analysis scheme

Step 1: Divide the problem domain into non overlapping regions

(“elements”) connected to each other through special points
(“nodes”)

Step 2: Describe the behavior of each element

Step 3: Describe the behavior of the entire body by putting

together the behavior of each of the elements (this is a process
known as “assembly”)
 F1x F2x F3x
x

k1 k2

Problem
Analyze the behavior of the system composed of the two springs
loaded by external forces as shown above

Given
F1x , F2x ,F3x are external loads. Positive directions of the forces
are along the positive x-axis
k1 and k2 are the stiffnesses of the two springs
 F1x F2x F3x
x

k1 k2
Solution
Step 1: In order to analyze the system we break it up into smaller
parts, i.e., “elements” connected to each other through “nodes”
F1x k1 F2x k2 F3x
x
1 2 3
Element 1 Element 2
d1x d2x d3x
Node 1
Unknowns: nodal displacements d1x, d2x, d3x,
 F1x k1 F2x k2 F3x
x
1 2 3
Element 1 Element 2
d1x d2x d3x
Node 1
Solution
Step 2: Analyze the behavior of a single element (spring)

© 2002 Brooks/Cole Publishing / Thomson Learning™

Two nodes: 1, 2
Nodal displacements: d̂ 1x d̂ 2x
Nodal forces: f̂1x f̂ 2x
Spring constant: k
 © 2002 Brooks/Cole Publishing / Thomson Learning™

Local (x̂ , ŷ ,ẑ) and global (x,y,z) coordinate systems

 Behavior of a linear spring (recap)

F x
k k
1 F
d k
d

F = Force in the spring

d = deflection of the spring
k = “stiffness” of the spring
Hooke’s Law
F = kd
 f̂1x f̂ 2x
© 2002 Brooks/Cole Publishing / Thomson Learning™

Hooke’s law for our spring element

f̂ 2x  k (d̂ 2x  d̂1x ) Eq (1)
Force equilibrium for our spring element (recap free body diagrams)
f̂1x  f̂ 2x  0
 f̂1x  f̂ 2x  k (d̂ 2x  d̂1x ) Eq (2)
Collect Eq (1) and (2) in matrix form
f̂1x   k - k  d̂1x 
f̂  k̂ d̂     
f̂ 2x  - k k  d̂ 2x 
Element force Element nodal     
Element displacement f̂ k̂ d̂
vector
stiffness vector
matrix
Note T
1. The element stiffness matrix is “symmetric”, i.e. k̂  k̂
2. The element stiffness matrix is singular, i.e.,

det (k̂ )  k 2  k 2  0
The consequence is that the matrix is NOT invertible. It is not
possible to invert it to obtain the displacements. Why?
The spring is not constrained in space and hence it can attain
multiple positions in space for the same nodal forces
e.g.,

f̂1x   2 - 2 1 - 2
     

f̂ 2x 
 - 2 2  2  2 

f̂1x   2 - 2 3 - 2
     

f̂ 2x 
 - 2 2  4  2 
Solution
Step 3: Now that we have been able to describe the behavior of
each spring element, lets try to obtain the behavior of the original
structure by assembly

Split the original structure into component elements

Element 2
Element 1
1 k1 2 2 k2 3

(1) (2)
f̂1x(1) d̂1x
(1) f̂ 2x(1) d̂ 2x f̂ (2)
d̂ (2) f̂ 2x(2) d̂ 2x
1x 1x


f̂1x(1) 
  k1 - k1   (1) 
d̂1x  
f̂1x(2) 
  k 2 - k 2  (2) 
d̂1x 
 (1)      (1)   (2)      (2) 
f̂ 2x 
   - k1 k1   d̂ 2x  f̂ 2x   - k 2 k 2  d̂ 2x 
            

(1 ) (1) (1)
k̂ ( 2) (2) ( 2)
f̂ d̂ f̂ k̂ d̂
Eq (3) Eq (4)
 To assemble these two results into a single description of the
response of the entire structure we need to link between the local
and global variables.

Question 1: How do we relate the local (element) displacements

back to the global (structure) displacements?
F1x k1 F2x k2 F3x
x
1 2 3
Element 1 Element 2
d1x d2x d3x
Node 1
(1)
d̂1x  d1x
Eq (5)
d̂ (1)
2x  d̂ (2)
1x  d 2x
2x  d 3x
d̂ (2)
Hence, equations (3) and (4) may be rewritten as

f̂1x(1)   k1 - k1  d1x  f̂1x(2)   k 2 - k 2  d 2x 

 (1)        (2)      
f̂ 2x  - k1 k1  d 2x  f̂ 2x  - k 2 k 2  d 3x 
Or, we may expand the matrices and vectors to obtain
f̂1x(1)   k1  k1 0 d1x   0  0 0 0  d1x 
 (1)    d  f̂ (2)    d 
f̂ 2x   - k1 k1 0  2x   1x   0 k 2  k 2   2x 
0   0   f̂ (2)  0 - k  d 3x 
  
0 0  d 3x 2x 
  2
2 
k
d ( 2)e (2)e d
(1) e (1) e f̂ k̂
f̂ k̂
Eq (6) Eq (7)
(1) e
k̂ Expanded element stiffness matrix of element 1 (local)
(1) e
f̂ Expanded nodal force vector for element 1 (local)
d Nodal load vector for the entire structure (global)
Question 2: How do we relate the local (element) nodal forces back
to the global (structure) forces? Draw 5 FBDs
F1x k1 F2x k2 F3x
x
1 A B2 C D3
d1x d2x d3x
2 3

F1x f̂1x(1) f̂ 2x(1) f̂1x(2) (2)

f̂ 2x F3x
F2x
© 2002 Brooks/Cole Publishing / Thomson Learning™

At node 1 : F1x - f̂1x(1)  0

At node 2 : F2x - f̂ 2x(1)  f̂1x(2)  0
At node 3 : F3x - f̂ 2x(2)  0
In vector form, the nodal force vector (global)

 F1x   f̂1x 
(1)

   (1) (2) 
F  F2x   f̂ 2x  f̂1x 
F   f̂ (2) 
 3x   2x 

Recall that the expanded element force vectors were

f̂1x(1)  0 
(1) e  (1)  ( 2) e f̂ (2) 
f̂  f̂ 2x  and f̂   1x 
0  f̂ (2) 
   2x 
Hence, the global force vector is simply the sum of the expanded
element nodal force vectors  F 
1x
  (1) e ( 2) e
F  F2x   f̂  f̂
F 
 3x 
But we know the expressions for the expanded local force vectors
from Eqs (6) and (7)
(1) e (1)e ( 2)e (2)e
f̂  k̂ d and f̂  k̂ d
Hence


d   k̂  k̂ d
(1) e ( 2)e (1)e (2)e (1)e (2)e
F  f̂  f̂  k̂ d  k̂
 
FKd

F  Global nodal force vector

d  Global nodal displaceme nt vector
K  Global stiffness matrix
 sum of expanded element stiffness matrices
For our original structure with two springs, the global stiffness
matrix is

 k 1  k 1 0  0 0 0 
K  - k1 k1 0  0 k 2  k 2 
 0 0 0 0 - k 2 k 2 
 
(1) e (2)e
k̂ k̂

 k1  k1 0 
 - k1 k1  k 2  k 2 
 0 - k2 k 2 

NOTE
1. The global stiffness matrix is symmetric
2. The global stiffness matrix is singular
The system equations FKd imply

 F1x   k1  k1 0  d1x 
     
F2x   - k1 k1  k 2  k 2  d 2x 
F   0 k 2  d 3x 
 3x   - k2

F1x  k1d1x  k1d 2x

 F2x  -k1d1x  (k1  k 2 )d 2x  k 2 d 3x
F3x  -k2 d 2x  k 2 d 3x

These are the 3 equilibrium equations at the 3 nodes.

 F1x k1 F2x k2 F3x
x
1 A B2 C D3
d1x d2x d3x
2 3

F1x f̂1x(1) f̂ 2x(1) f̂1x(2) (2)

f̂ 2x F3x
F2x
© 2002 Brooks/Cole Publishing / Thomson Learning™

F1x  k1 d1x  d 2x   f̂1x(1)

At node 1 : F1x - f̂1x(1)  0
F2x  -k1d1x  (k1  k 2 )d 2x  k 2d 3x
At node 2 : F2x - f̂ (1)
 f̂ (2)
0
2x 1x
  k1 d1x  d 2x   k 2 d 2x  d 3x 
At node 3 : F3x - f̂ 2x(2)  0
 f̂ 2x(1)  f̂1x(2)
F3x  -k2 d 2x  d3x   f̂ 2x(2)
Notice that the sum of the forces equal zero, i.e., the structure is in
static equilibrium.

F1x + F2x+ F3x =0

Given the nodal forces, can we solve for the displacements?

To obtain unique values of the displacements, at least one of the

nodal displacements must be specified.
 Direct assembly of the global stiffness matrix

Global
F1x k1 F2x k2 F3x
x
1 2 3
Element 1 Element 2
d1x d2x d3x

Local
Element 2
Element 1
1 k1 2 2 k2 3

(1) (2)
f̂1x(1) d̂1x
(1) f̂ 2x(1) d̂ 2x f̂ (2)
d̂ (2) f̂ 2x(2) d̂ 2x
1x 1x
Node element connectivity chart : Specifies the global node
number corresponding to the local (element) node numbers

ELEMENT Node 1 Node 2 Local node number

1 1 2 Global node number

2 2 3
Stiffness matrix of element 1 Stiffness matrix of element 2

d1x d2x d2x d3x

(1)  k1 - k1  d1x ( 2)  k2 - k 2  d2x
k̂   k̂  
- k1 k1  d2x - k 2 k 2  d3x

Global stiffness matrix

d1x d2x d3x
 k1 - k1 0  d1x
K  - k1 k1  k 2 - k 2  d2x
 0 - k2 k 2  d3x
Examples: Problems 2.1 and 2.3 of Logan
 Example 2.1
22 3 4

© 2002 Brooks/Cole Publishing / Thomson Learning™

Compute the global stiffness matrix of the assemblage of

springs shown above
d1x d2x d3x d4x
 1000 1000 0 0  d1x
 1000 1000  2000 0  d2x
   2000
K
 0 2000  2000  3000 3000 d3x
 
 0 0 3000 3000  d
4x
 Example 2.3

© 2002 Brooks/Cole Publishing / Thomson Learning™

Compute the global stiffness matrix of the assemblage of

springs shown above

 k1 -k1 0 
 
K  -k1 k1  k 2  k 3 -  k 2  k 3 
 0 -  k 2  k3   k 2  k 3  
 Imposition of boundary conditions
Consider 2 cases
Case 1: Homogeneous boundary conditions (e.g., d1x=0)
Case 2: Nonhomogeneous boundary conditions (e.g., one of the
nodal displacements is known to be different from zero)

Homogeneous boundary condition at node 1

k1=500N/m k2=100N/m F3x=5N
1 x
2 3
Element 1 Element 2
d1x=0 d2x d3x
 System equations
0
 500 -500 0   d1x   F1x 
-500 600 -100  d    0 
   2x   
 0 -100 100   d3 x   5 
Global Stiffness Nodal Nodal
matrix disp load
vector vector
Note that F1x is the wall reaction which is to be computed as part
of the solution and hence is an unknown in the above equation
Writing out the equations explicitly
-500d 2x  F1x Eq(1)
600d 2 x  100d3 x  0 Eq(2)
100d 2 x  100d3 x  5 Eq(3)
 Eq(2) and (3) are used to find d2x and d3x by solving

 600 100   d 2 x  0 
 100 100   d   5 
   3x   
 d 2 x   0.01 m 
  
 3x  
d 0.06 m 

NOTICE: The matrix in the above equation may be obtained from

the global stiffness matrix by deleting the first row and column
 500 -500 0 
 600 100 
-500 600 -100   100 100 
   
 0 -100 100 

Note use Eq(1) to compute F1x =-500d 2x  5N

NOTICE:

1. Take care of homogeneous boundary conditions

by deleting the appropriate rows and columns from the
global stiffness matrix and solving the reduced set of
equations for the unknown nodal displacements.

2. Both displacements and forces CANNOT be known at

the same node. If the displacement at a node is known, the
reaction force at that node is unknown (and vice versa)
 Imposition of boundary conditions…contd.
Nonhomogeneous boundary condition: spring 2 is pulled at
node 3 by 0.06 m)
k1=500N/m k2=100N/m
1 x
2 3
Element 1 Element 2
d1x=0 d2x d3x=0.06m
System equations
0
 500 -500 0   d1x   F1x 
-500 600 -100  d    0 
   2x   
 0 -100 100   d3 x   F3 x 
0.06
Note that now F1x and F3x are not known.

Writing out the equations explicitly

-500d 2x  F1x Eq(1)
600d 2 x  100(0.06)  0 Eq(2)
100d 2 x  100(0.06)  F3 x Eq(3)
Now use only equation (2) to compute d2x

600d 2 x  100(0.06)
 d 2 x  0.01m

Now use Eq(1) and (3) to compute F1x =-5N and F3x=5N
Recap of what we did

Step 1: Divide the problem domain into non overlapping regions

(“elements”) connected to each other through special points
(“nodes”) Element
nodal
Step 2: Describe the behavior of each element ( f̂  k̂ d̂ ) displacement
vector

Step 3: Describe the behavior of the entire body (by “assembly”).

This consists of the following steps

1. Write the force-displacement relations of each spring in

expanded form Global
e
f̂  k̂ e d̂ nodal
displacement
vector
Recap of what we did…contd.

2. Relate the local forces of each element to the global forces at

the nodes (use FBDs and force equilibrium).
F   f̂
e

Finally obtain

FKd

Where the global stiffness matrix

K  k
e
Recap of what we did…contd.

Apply boundary conditions by partitioning the matrix and vectors

 K11 K12  d1   F1 

K K  d   F 
 21 22   2   2 

Solve for unknown nodal displacements

K22 d2  F2  K21d1
Compute unknown nodal forces
F1  K11d1  K12 d2
 Physical significance of the stiffness matrix
F1x k1 F2x k2 F3x
x
1 2 3
Element 1 Element 2
d1x d2x d3x
In general, we will have a  k11 k12 k13 
K  k 21 k 22 k 23 
stiffness matrix of the form
(assume for now that we do not
know k11, k12, etc) k 31 k 32 k 33 

The finite element  k11 k12 k13   d1   F1 

k    
force-displacement  21 k 22 k 23  d 2   F2 
relations: k 31 k 32 k 33     
d 3  F3 
 Physical significance of the stiffness matrix

The first equation is

Force equilibrium
k11d1  k12d 2  k13d3  F1 equation at node 1

Columns of the global stiffness matrix

What if d1=1, d2=0, d3=0 ?

While nodes 2 and 3 are held fixed
F1  k 11 Force along node 1 due to unit displacement at node 1
F2  k 21 Force along node 2 due to unit displacement at node 1
F3  k 31 Force along node 3 due to unit displacement at node 1

Similarly we obtain the physical significance of the other

entries of the global stiffness matrix
 Physical significance of the stiffness matrix

In general

k ij = keeping
Force at node ‘i’ due to unit displacement at node ‘j’
all the other nodes fixed
This is an alternate route to generating the global stiffness matrix
e.g., to determine the first column of the stiffness matrix
Set d1=1, d2=0, d3=0
F1 k1 F2 k2 F3
x
1 2 3
Element 1 Element 2
d1 d2 d3
Find F1=?, F2=?, F3=?
 Physical significance of the stiffness matrix

For this special case, Element #2 does not have any contribution.
Look at the free body diagram of Element #1
d̂ (1)
1x
d̂ (1)
2x
x
f̂1x(1) k1 f̂ 2x(1)

fˆ2x(1)  k1 (dˆ (1)

2x  ˆ (1) )  k (0 1)  k
d1x 1 1

fˆ1x(1)  fˆ2x(1)  k1
 Physical significance of the stiffness matrix
Force equilibrium at node 1
F1
F1 =fˆ1x(1)  k1
f̂1x(1)
Force equilibrium at node 2
F2
F2 =fˆ2x(1)  k1
f̂ 2x(1) F1 = k1d1 = k1=k11
Of course, F3=0 F2 = -F1 = -k1=k21

F3 = 0 =k31
 Physical significance of the stiffness matrix
Hence the first column of the stiffness matrix is
 F1   k1 
   
 F2   k1 
F   0 
 3  
To obtain the second column of the stiffness matrix, calculate the
nodal reactions at nodes 1, 2 and 3 when d1=0, d2=1, d3=0
Check that
 F1   k1 
   
F  k 
 2  1 2 k
 F   k 
 3  2 
 Physical significance of the stiffness matrix

To obtain the third column of the stiffness matrix, calculate the

nodal reactions at nodes 1, 2 and 3 when d1=0, d2=0, d3=1
Check that
 F1   0 
   
 F2   k2 
F   k 
 3  2 
Steps in solving a problem

Step 1: Write down the node-element connectivity table

linking local and global displacements

Step 2: Write down the stiffness matrix of each element

Step 3: Assemble the element stiffness matrices to form the

global stiffness matrix for the entire structure using the
node element connectivity table

Step 4: Incorporate appropriate boundary conditions

Step 5: Solve resulting set of reduced equations for the

unknown displacements

Step 6: Compute the unknown nodal forces

 Assignment Session 01
 (From Logan (5th edition))
 Example 2.1-2.3
 Poblem 2.1-2.17