I So Parametric

MECH 420: Finite Element Applications
Lecture 20: Isoparametric Formulations.

Chapter #10 Isoparametric Formulation.
Isoparametric formulations help us solve two problems.
Help simplify the definition of the approximate displacement field for
more complex planar elements (4-sided elements, elements with
curved edges, ).
Significantly reduce the integration process by ensuring that we
always have integrals in terms of natural coordinates that are taken
over fixed bounds.
We start by applying the isoparametricformulation to a bar
element.
Move on to derivation of the stiffness matrix and eesfor a plane
element that can be used in plane stress and plane strain problems.
The derivations will show the set up of the integral expression.
We will apply Guassian quadrature to evaluate these integrals.
10.1 Isoparametric Formulation of the Bar Element Euations.
Step 1: Set the element type.
Step 1 now includes the definition of a natural (or curvilinear
coordinate), s.
We must create a mapping between the curvilinear coordinate s and
the cartesian coordinate x.
This mapping will match the element boundaries/keypoints/nodes
between the natural coordinate plane and the Cartesian coordinate
system.
Element nodes
Element
centroid
The mapping procedure is very similar to the creation of shape
functions as in Logan Ch.s2, 3, 4, 5, and 6.
Set the order of the approximation:
Apply some kinematic constraints on the approximation.
1 2
x a a s = +
1 1 2
2 1 2
( 1)
( 1)
x a a
x a a
= +
= + +
1
1 1
2 2
1 1
1 1
a x
a x

=

1 2
1
2 2 1
2
2
x x
a
a x x
+

=

( ) ( )
1 2
1
1 1
2
x s x s x = + +

Defining the shape functions that are the core of the mapping
between s and x
The shape functions define the variation of a quantity (now a
coordinate x) over some domain of interest (now a natural
coordinate s).
We can apply the same shape functions to define the variation of
other values over the domain
[ ]
1
1 2
2
x
x N N
x

=

( )
( )
1
2
1
2
1
2
s
N
s
N
=
+
=
( )
1.. 1 s +
Step 2: Select a displacement function:
[ ] [ ]
1 1
1 2 1 2
2
2
x
x
d u
u N N N N
u
d

= =

Step 3: Define the stress strain relationships.
Regardless of what natural coordinates we introduce, we do not
change the governing physics of the structural problem:
x
du
dx
du
du ds
dx dx
ds
=

=

Governing physics/Constitutive
equations.
How we realize the
differential term(s) in the
constitutive equations.
( )
( )
2 1
2 1
1 2 1
2
2
2 2
1 1
;
x
x
x
u u du
ds
x x dx L
ds
d u u
du
B B
dx L L L
d
= =

= = = =

Again, we use the
B notation to
refer to a matrix
that relates
displacements to
strains.
Step 4: Derive the element equations:
( ) ( ) ( )

0
T T T T
S
e e e
V V S
B DB dV d N b dV N T dS f d

= + + +

For line elements the integrals reduces to
integration in 1-D: x. (uniform cross sectional
area assumed in Step 1.)
0 0 0

0
L L L
T T T T
S
x x x
A B DB dx d A N b dx N T dx f P d
= = =

= + + +

1 2 3
Perimeter around the bar cross section. P
Consider the first term in the functional :
(the strain energy term that produces the stiffness matrix)
1
0 1
2 1
1
1
2 2
2
L s
T T
x s
s
T
s
k A B DB dx A B DB dx
x x dx L
ds
L
dx ds
k A B DB Jds
=+
= =
=+
=

= =

= =
=

=

2
J
L
=
J acobian
matrix.
Some notes on the ever-present J acobianmatrix:
Main Entry: Jacobian
Pronunciation: j&-'kO-bE-&n, y-
Function: noun
Etymology: K. G. J . Jacobi died 1851 German mathematician
: a determinant defined for a finite number of functions of the same
number of variables in which each row consists of the first partial
derivatives of the same function with respect to each of the
variables
Main Entry: determinant
Pronunciation: di-'t&r-m&-n&nt
Function: noun
1 : an element that identifies or determinesthe nature of something
or that fixes or conditions an outcome
Some more notes on the ever-present J acobianmatrix:
Referred to as a J acobianMatrix or just J acobian.
Any matrix that defines the conversion from one rate to another.
Like a matrix of currency conversions.
J in this case is a scalar entity:
Robotics: defines how a collection of joint rates maps over a
translational and rotational velocity of an end effector.
Basis for kinematic and dynamic robotics problems.
Dynamics: how do changes in the state of a body affect the
dynamic equilibrium of that body.
How we measure the stiffness of a set of dynamic equations.
Has consequence in how we apply numerical integrators to solve
dynamics problems.
change in the cartesian coordinate ' '
change in the natural coordinate ' '
dx x
J
ds s
=
Completing the evaluation of k.
So whats the big deal about introducing s?
1
1
1
1
1
1 1
1 2
1 1
1 1
s
T
s
s
s
k A B DB Jds
AL
L
E ds
L L
L
AE
L
=+
=
=+
=

=


Look at the second term in the original functional
0
1
1
1
2
1 2
2
L
B T
x
s
x
s
f A N b dx
s
L
A b ds
s
=
=+
=
=

=

+

Still pretty easy to evaluate but we saw

for the LST how the integrals get a lot
more complicated.
But now we know the limits of the
integration and the shape functions are
well defined over the -1 to +1 interval
10.4. Guassian Quadrature (Numerical Integration).
Numerical integration methods provide a value for an integral I:
If we turn to numerical approaches it is because the integrand is to
complex to get a useful expression for I.
Numerical methods sample the integrand, y(x), and approximate
the integral, I, with a weighted summation of the sample values.
The choice of the weighting factors is what defines the particular
integration scheme.
Numerical methods effectively replace the original function, y(x),
with a polynomial approximate.
2
1
( )
x
x
I y x dx =

y(x
i
) =value of the function at the sample point x
i
.
W
i
=weighting applied to this sample.
2
1
1
( ) ( )
x
n
i i
i
x
I y x dx W y x
=
=
Guassian Quadrature
uses n sample
values to create a
polynomial of order
2n-1 which replaces
the original function.
For MECH 420 we
are integrating over
domains:
( )
( )
1.. 1
and/or
1.. 1
s
t
+
+
Guassian quadrature:
Uses a symmetric distribution of sample points over the -1 to
+1 s domain.
Symmetric points carry the same weight.
Any number of points can be chosen.
One-point Guassian quadrature,
Two-point Guassian quadrature,
If an odd number of points is chosen then one of the points is
the element centroid.
If we consider how the two-point quadrature formula is obtained
then we can repeat this procedure to obtain quadrature formulas
that are not tabulated.
Using the two point formula we could quickly discretizethe body
fixed load we looked at earlier:
Note: we would have to evaluate b
x
at the points:
( ) ( )
1
0 1
0.5773 0.5773
1
2
1 2
2
1 1
2 2
1.000 1.000
1 1 2 2
2 2
L s
B T
x
x s
x x
s s
s
L
f A N b dx A b ds
s
s s
AL AL
b b
s s
=+
= =
= =+

= =

+

= +

+ +

( ) ( )
( ) ( )
1 2
1 2
1
1 0.57735 1 0.57735
2
and
1
1 0.57735 1 0.57735
2
x x x
x x x
= + +

= + +

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MECH 420: Finite Element Applications

Lecture 20: Isoparametric Formulations.

MECH 420: Finite Element Applications

Still pretty easy to evaluate but we saw

MECH 420: Finite Element Applications

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