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d1
d2
d3
*numbering starts with the lowest numbered joint first, and in case of multiple
degrees of freedom for the same joint, numbering starts X then Y then Z
*FOR CONTINUOS BEAMS DO NOT CONSIDER AXIAL DEFORMATIONS, SO THA
MAX DEGREE OF FREEDOM FOR A CONTINUOES BEAM IS TWO.
*for trusses, the joints are assumed to be frictionless so they do not transfer
moments and their rotations are assumed to be zero.
P=Sd
where; d is JOINT
DISPLACEMENT VECTOR
S is the
STIFFNESS MATRIX
P effects
of ext. loads on joints
*the stiffness matrix for a member expresses the forces at the ends of the member
as functions of the displacements of the members ends.
Q=ku+Qf
where;
Q=ku
local x.
* the stiffness relations derived befor (Q : end forces, u: end displacements) are only
valid in terms of local coordinates.
*to transform member end forces from global to local we use the transformation
matrix according the the following formula : Q = TF , also we can transform local
end forces by the following formula : F = TQ
where Xb,Xe and Yb,Ye are the global coordinates and L is the length of the
member.
* we can also transform global end displacements to local according to the formula :
u = Tv
also, we can transform local end displacements to global according to the formula :
v = Tu
same for both local and global coordinations, so no need to transform anything.
F=Q
v=u
*after deriving the member stiffness relations in terms of global coordination, one
can develop the structure stiffness relation for the WHOLE structure by writing
equilibrium equations of the JOINTS and compatibility equations.
* the structure stiffness relations in global coordinations is given by :
PP f =Sd
PROCEDURE
FOR ANALYSIS
Based on the discussion presented in the
previous sections, we can develop the following
step-by-step procedure for the analysis of
structures by the matrix stiffness method.
(1.) Prepare an analytical model of the
structure as follows:
[a.] Draw a line diagram of the structure, on
which each joint and member must be
identified by a number.
[b.] Select a global XY coordinate system, with
the X and Y axes oriented in the horizontal
(positive to the right) and vertical (positive
upward) directions, respectively. It is usually
convenient to locate the origin of this
coordinate system at a lower left joint of the
structure, so that the X and Y coordinates of
most of the joints are positive.
[c.] For each member, establish a local xy
coordinate system by selecting one of the
joints at its ends as the beginning joint and the
other as the end joint. On the line diagram of
the structure, for each member indicate the
positive direction of the local x axis by drawing
an arrow along the member pointing toward
the end joint. For horizontal members, the
coordinate transformations can be avoided by
selecting the joint at the left end of the
member as the beginning joint.
[d.] Identify the degrees of freedom or
unknown joint displacements, d, of the
structure. The degrees of freedom are specified
on the structures line diagram by drawing
arrows at the joints and are numbered by
starting at the lowest joint number and
K=T T kT
(Eq. (18.26)),
F f =T Qf