The Finite Element
Method in Engineering
Fifth Edition
Singiresu S. Rao
Professor and Chairman
Department of Mechanical and Aerospace Engineering
University of Miami, Coral Gables, Florida, USA
ELSEVIER
AMSTERDAM BOSTON HEIDELBERG LONDON
NEW YORK OXFORD PARIS SAN DIEGO
SAN FRANCISCO SINGAPORE SYDNEY TOKYO
Butterworth-Heinemann is an imprint of Elsevier
PREFACE
PART 1
CHAPTER 1
xiii
Introduction
Overview of Finite Element Method
1.2 Historical Background
1.3 General Applicability of the Method
1.4 Engineering Applications of the Finite Element Method
1.5 General Description of the Finite Element Method
1.6 One-Dimensional Problems with Linear Interpolation Model
12
1.7 One-Dimensional Problems with Cubic Interpolation Model
24
1.8 Derivation of Finite Element Equations Using a Direct Approach
28
1.9 Commercial Finite Element Program Packages
40
1.10 Solutions Using Finite Element Software
PART 2
CHAPTER 2
CHAPTER 3
CHAPTER 4
1.1 Basic Concept
40
Basic Procedure
Discretization of the Domain
53
2.1 Introduction
53
2.2 Basic Element Shapes
53
2.3 Discretization Process
56
2.4 Node Numbering Scheme
63
2.5 Automatic Mesh Generation
65
Interpolation Models
75
3.1 Introduction
75
3.2 Polynomial Form of Interpolation Functions
77
3.3 Simplex, Complex, and Multiplex Elements
78
3.4 Interpolation Polynomial in Terms of Nodal Degrees of Freedom
78
3.5 Selection of the Order of the Interpolation Polynomial
80
3.6 Convergence Requirements
82
3.7 Linear Interpolation Polynomials in Terms of Global Coordinates
85
3.8 Interpolation Polynomials for Vector Quantities
96
3.9 Linear Interpolation Polynomials in Terms of Local Coordinates
99
3.10 Integration of Functions of Natural Coordinates
108
3 . 1 1 Patch Test
109
Higher Order and Isoparametric Elements
119
4 . 1 Introduction
120
4.2 Higher Order One-Dimensional Elements
120
4.3 Higher Order Elements in Terms of Natural Coordinates
121
4.4 Higher Order Elements in Terms of Classical Interpolation
Polynomials
130
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CONTENTS
4.5 One-Dimensional Elements Using Classical Interpolation Polynomials.... 134
4.6 Two-Dimensional (Rectangular) Elements Using Classical
Interpolation Polynomials
135
4.7 Continuity Conditions
137
4.8 Comparative Study of Elements
139
4.9 Isoparametric Elements
140
4.10 Numerical Integration
CHAPTER 5 Derivation of Element Matrices and Vectors
148
157
5.1 Introduction
158
5.2 Variational Approach
158
5.3 Solution of Equilibrium Problems Using Variational (Rayleigh-Ritz)
Method
163
5.4 Solution of Eigenvalue Problems Using Variational (Rayleigh-Ritz)
Method
167
5.5 Solution of Propagation Problems Using Variational (Rayleigh-Ritz)
Method
168
5.6 Equivalence of Finite Element and Variational (Rayleigh-Ritz)
Methods
169
5.7 Derivation of Finite Element Equations Using Variational
(Rayleigh-Ritz) Approach
169
5.8 Weighted Residual Approach
175
5.9 Solution of Eigenvalue Problems Using Weighted Residual Method
182
5.10 Solution of Propagation Problems Using Weighted Residual Method....183
5.11 Derivation of Finite Element Equations Using Weighted Residual
(Galerkin) Approach
184
5.12 Derivation of Finite Element Equations Using Weighted Residual
(Least Squares) Approach
187
5.13 Strong and Weak Form Formulations
189
CHAPTER 6 Assembly of Element Matrices and Vectors and Derivation of
System Equations
199
6.1 Coordinate Transformation
199
6.2 Assemblage of Element Equations
204
6.3 Incorporation of Boundary Conditions
211
6.4 Penalty Method
219
6.5 Multipoint ConstraintsPenalty Method
223
6.6 Symmetry ConditionsPenalty Method
226
6.7 Rigid Elements
228
CHAPTER 7 Numerical Solution of Finite Element Equations
PART 3
241
7.1 Introduction
241
7.2 Solution of Equilibrium Problems
242
7.3 Solution of Eigenvalue Problems
251
7.4 Solution of Propagation Problems
262
7.5 Parallel Processing in Finite Element Analysis
268
Application to Solid Mechanics Problems
CHAPTER 8 Basic Equations and Solution Procedure
277
8.1 Introduction
277
8.2 Basic Equations of Solid Mechanics
277
8.3 Formulations of Solid and Structural Mechanics
CHAPTER 9
294
8.4 Formulation of Finite Element Equations (Static Analysis)
299
8.5 Nature of Finite Element Solutions
303
Analysis of Trusses, Beams, and Frames
311
9.1 Introduction
311
9.2 Space Truss Element
312
9.3 Beam Element
323
9.4 Space Frame Element
328
9.5 Characteristics of Stiffness Matrices
338
CHAPTER 10 Analysis of Plates
355
1 0 . 1 Introduction
355
10.2 Triangular Membrane Element
356
10.3 Numerical Results with Membrane Element
367
10.4 Quadratic Triangle Element
369
10.5 Rectangular Plate Element (In-plane Forces)
372
10.6 Bending Behavior of Plates
376
10.7 Finite Element Analysis of Plates in Bending
379
10.8 Triangular Plate Bending Element
379
10.9 Numerical Results with Bending Elements
383
10.10 Analysis of Three-Dimensional Structures Using Plate Elements....386
CHAPTER 1 1 Analysis of Three-Dimensional Problems
1 1 . 1 Introduction
11.2 Tetrahedron Element
401
11.3 Hexahedron Element
409
11.4 Analysis of Solids of Revolution
CHAPTER 12 Dynamic Analysis
PART 4
401
401
413
427
1 2 . 1 Dynamic Equations of Motion
427
12.2 Consistent and Lumped Mass Matrices
430
12.3 Consistent Mass Matrices in a Global Coordinate System
439
12.4 Free Vibration Analysis
440
12.5 Dynamic Response Using Finite Element Method
452
12.6 Nonconservative Stability and Flutter Problems
460
12.7 Substructures Method
461
Application to Heat Transfer Problems
CHAPTER 13 Formulation and Solution Procedure
1 3 . 1 Introduction
473
473
13.2 Basic Equations of Heat Transfer
473
13.3 Governing Equation for Three-Dimensional Bodies
475
13.4 Statement of the Problem
479
13.5 Derivation of Finite Element Equations
480
CHAPTER 14 One-Dimensional Problems
1 4 . 1 Introduction
489
489
14.2 Straight Uniform Fin Analysis
489
14.3 Convection Loss from End Surface of Fin
492
14.3 Tapered Fin Analysis
496
14.4 Analysis of Uniform Fins Using Quadratic Elements
499
14.5 Unsteady State Problems
502
14.6 Heat Transfer Problems with Radiation
507
CHAPTER 15 Two-Dimensional Problems
1 5 . 1 Introduction
517
15.2 Solution
517
15.3 Unsteady State Problems
526
CHAPTER 16 Three-Dimensional Problems
PART 5
517
531
16.1 Introduction
531
16.2 Axisymmetric Problems
531
16.3 Three-Dimensional Heat Transfer Problems
536
16.4 Unsteady State Problems
541
Application to Fluid Mechanics Problems
CHAPTER 17 Basic Equations of Fluid Mechanics
549
17.1 Introduction
549
17.2 Basic Characteristics of Fluids
549
17.3 Methods of Describing the Motion of a Fluid
550
17.4 Continuity Equation
551
17.5 Equations of Motion or Momentum Equations
552
17.6 Energy, State, and Viscosity Equations
557
17.7 Solution Procedure
557
17.8 Inviscid Fluid Flow
559
17.9 Irrotational Flow
560
17.10 Velocity Potential
561
17.11 Stream Function
562
17.12 Bernoulli Equation
564
CHAPTER 18 Inviscid and Incompressible Flows
571
1 8 . 1 Introduction
571
18.2 Potential Function Formulation
573
18.3 Finite Element Solution Using the Galerkin Approach
573
18.4 Stream Function Formulation
584
CHAPTER 19 Viscous and Non-Newtonian Flows
591
PART 6
19.1 Introduction
591
19.2 Stream Function Formulation (Using Variational Approach)
592
19.3 Velocity-Pressure Formulation (Using Galerkin Approach)
596
19.4 Solution of Navier-Stokes Equations
598
19.5 Stream Function-Vorticity Formulation
600
19.6 Flow of Non-Newtonian Fluids
602
19.7 Other Developments
607
Solution and Applications of
Quasi-Harmonic Equations
CHAPTER 20 Solution of Quasi-Harmonic Equations
613
2 0 . 1 Introduction
613
20.2 Finite Element Equations for Steady-State Problems
615
20.3 Solution of Poisson's Equation
615
20.4 Transient Field Problems
622
PART 7
ABAQUS and ANSYS Software and MATLAB Programs
for Finite Element Analysis
CHAPTER 2 1 Finite Element Analysis Using ABAQUS
631
2 1 . 1 Introduction
631
21.2 Examples
632
CHAPTER 22 Finite Element Analysis Using ANSYS
663
2 2 . 1 Introduction
663
22.2 GUI Layout in ANSYS
664
22.3 Terminology
664
22.4 Finite Element Discretization
665
22.5 System of Units
667
22.6 Stages in Solution
667
CHAPTER 23 MATLAB Programs for Finite Element Analysis
683
2 3 . 1 Solution of Linear System of Equations Using Choleski Method
684
23.2 Incorporation of Boundary Conditions
686
23.3 Analysis of Space Trusses
687
23.4 Analysis of Plates Subjected to In-plane Loads
Using CST Elements
691
23.5 Analysis of Three-Dimensional Structures Using CST Elements
694
23.6 Temperature Distribution in One-Dimensional Fins
23.7 Temperature Distribution in One-Dimensional Fins Including
Radiation Heat Transfer
697
23.8 Two-Dimensional Heat Transfer Analysis
699
23.9 Confined Fluid Flow around a Cylinder Using Potential
Function Approach
23.10 Torsion Analysis of Shafts
698
701
702
Appendix: Green-Gauss Theorem (Integration by Parts in Two
and Three Dimensions)
Index
705
707
