MANE 4240 & CIVL 4240

Introduction to Finite Elements

Introduction to the Stiffness

(Displacement) Method:
Analysis of a system of springs
Prof. Suvranu De
Reading assignment:

Chapter 2: Sections 2.1-2.5 + Lecture notes

Summary:

Developing the finite element equations for a system of

springs using the direct stiffness approach
Application of boundary conditions
Physical significance of the stiffness matrix
Direct assembly of the global stiffness matrix
Problems
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: d1x d 2x
Nodal forces: f1x f2x
Spring constant: k
 2002 Brooks/Cole Publishing / Thomson Learning

,z) and global (x,y,z) coordinate systems

Local (x , y
 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
Hookes Law
F = kd
 f1x f2x
2002 Brooks/Cole Publishing / Thomson Learning

Hookes law for our spring element

f2x k (d 2x d1x ) Eq (1)
Force equilibrium for our spring element (recap free body diagrams)
f1x f2x 0
f1x f2x k (d 2x d1x ) Eq (2)
Collect Eq (1) and (2) in matrix form
f1x k - k d1x
f k d
f 2x - k k d 2x
Element nodal
Element force
Element f k d
vector displacement
stiffness vector
matrix
Note T

1. The element stiffness matrix is symmetric, i.e. k k
2. The element stiffness matrix is singular, i.e.,

det ( k ) 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.,
f1x 2 - 2 1 - 2

f 2x - 2 2 2 2
f1x 2 - 2 3 - 2

f 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

f1x(1) d1x f2x(1) d 2x f1x(2) d1x f2x(2) d 2x

(1) (1) (2) (2)

f1x(1) k1 - k1 d1x (1)

f1x(2) k2 - k2 d1x (2)

(1) (1) (2) (2)
f 2x - k k
1 1 d 2x f 2x - k k 2 d 2x
(1 )
2

k
(1) (1 )
f d
(2)
k
(2) (2)
f d
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
d1x
(1)
d1x
Eq (5)
d (1)
2x (2) d
d 1x 2x

d (2) d
2x 3x
Hence, equations (3) and (4) may be rewritten as

f1x(1) k1 - k1 d1x f1x(2) k2 - k 2 d 2x

(1) (2)
f 2x -
1k k 1 d 2x f 2x - k2 k 2 d 3x
Or, we may expand the matrices and vectors to obtain
f1x(1) k1 k1 0 d1x 0 0 0 0 d1x
(1) -k d f (2) 0 d
2x
f k 0 2x 1x k 2 k 2 2x
1 1 f (2)
0 0 0 0 d 3x 2x 0 - k 2 k 2 d 3x

d (2)e (2)e d
(1) e
k
(1) e f k
f
Eq (6) Eq (7)
k (1) e
Expanded element stiffness matrix of element 1 (local)
f (1) e
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 B 2 C D3
d1x d2x d3x
2 3

F1x f1x(1) f2x(1) f1x(2) f2x

(2)
F3x
F2x
2002 Brooks/Cole Publishing / Thomson Learning

At node 1 : F1x - f1x(1) 0

At node 2 : F2x - f2x(1) f1x(2) 0
At node 3 : F - f (2) 0 3x 2x
In vector form, the nodal force vector (global)

F1x f1x(1)
(1) (2)
F F2x f 2x f1x
F f (2)
3x 2x
Recall that the expanded element force vectors were
f1x(1) 0
f (1) e (1) ( 2)e f (2)
f 2x and f 1x
0 f (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 f f
F3x

But we know the expressions for the expanded local force vectors
from Eqs (6) and (7)
f (1) e k (1)e d and f ( 2 ) e k (2)e d
Hence

d k k d

(1) e ( 2) e (1)e (2)e (1)e (2)e
F f f k d k

FKd

F Global nodal force vector

d Global nodal displacement 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
k k

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 FKd imply

F1x k1 k1 0 d1x

F2x - k1 k1 k 2 k 2 d 2x
F 0 - k2 k 2 d
3x 3x

F1x k1d1x k1d 2x

F2x -k1d1x (k1 k 2 )d 2x k 2 d 3x
F3x -k 2 d 2x k 2 d 3x

These are the 3 equilibrium equations at the 3 nodes.

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

F1x f1x(1) f2x(1) f1x(2) f2x

(2)
F3x
F2x
2002 Brooks/Cole Publishing / Thomson Learning

F1x k1 d1x d 2x f1x(1)

At node 1 : F1x - f1x(1) 0
F2x -k1d1x (k1 k 2 )d 2x k 2 d 3x
At node 2 : F2x - f2x f1x 0
(1) (2)
k1 d1x d 2x k 2 d 2x d 3x
At node 3 : F3x - f2x(2) 0
f2x(1) f1x(2)
F3x -k 2 d 2x d 3x f2x(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

f1x(1) d1x f2x(1) d 2x f1x(2) d1x f2x(2) d 2x

(1) (1) (2) (2)
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

k
(1)

k1 - k1 d1x k ( 2 ) k 2 - k 2 d2x
-k
k 2 d3x
-
1k k 1 d2x 2

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 - k2 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 d 1x F1x
-500 600 -100 d 2 x 0

0 -100 100 d 3 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
3 x
d 2 x 0.01 m

d
3 x 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 5 N

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 conditionscontd.
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 d 1x F1x
-500 600 -100 d 2 x 0

0 -100 100
d 3 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 ( f k d ) 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 e Global
f k e d nodal
displacement
vector
Recap of what we didcontd.

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

the nodes (use FBDs and force equilibrium).
F f
e

Finally obtain
FKd

Where the global stiffness matrix

K k
e
Recap of what we didcontd.

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

K 22 d 2 F2 K 21 d1
Compute unknown nodal forces
F1 K11 d1 K12 d 2
 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 23
stiffness matrix of the form
(assume for now that we do not
k 22
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 F
3 3
 Physical significance of the stiffness matrix

The first equation

is Force equilibrium
k11d1 k12 d 2 k13d 3 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 k11 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
d1x
(1) d (1)
2x
x
f1x(1) k1 f2x(1)

f2x(1) k1 (d (1)
2x (1) ) k (0 1) k
d 1x 1 1

f1x(1) f2x(1) k1
 Physical significance of the stiffness matrix
Force equilibrium at node 1
F1
F1 =f1x k1
(1)

f1x(1)
Force equilibrium at node 2
F2
F2 =f2x(1) k1
f2x(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
F 1 k1

F 2 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
F 1 k1

F 2 k
1 k2
F k2
3
 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
F 1 0

F 2 k 2
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