Finite Elements Analysis

Direct Stiffness method

Trusses
 Outline

o Calculation of Stiffness matrix of a bar/truss

element
o Coordinate transformation (Local-Global Axis)
o Stiffness matrix of a truss element in 2D space
o Example of a 2D truss analysis
o Formulation of 3D Truss element
Truss Structures
 Definition of Trusses
Structures composed of slender members (I-beams,
channels, angles, bars etc) joined together at their ends
by
welding
riveted connections
large bolts

A typical truss structure

Gusset plate
 Trusses

Ideal truss members are connected only at their ends.

Ideal truss members are connected by frictionless pins
(no moments)
Loaded only at the pins and weights of the members are
neglected

A typical truss structure

Frictionless pin
 Bar Element

Linear elastic bar element

Prismatic (constant cross-section)
Forces T directed along the bar applied at nodes 1
and 2
Global coordinate system (x,y)
Local coordinate system x, y
Length L, Cross-sectional Area A, Modulus of
Elasticity E
 Bar Element

y
y
x,u
T
2

L
d2 x ,f2 x
1
T

d1x ,f1x

x
 Assumptions

o The bar cannot resist shear forces.

That is: f1 y f2 y 0
Effects of transverse displacements
are ignored.
Hookes law applies. x E x
 FEM analysis scheme

o Step 1: Divide the structure into bar/truss elements connected

to each other through special points (nodes)

o Step 2: Describe the behavior of each bar element (i.e. derive

its stiffness matrix and load vector in local AND global
coordinate system)

o Step 3: Describe the behavior of the entire truss by putting

together the behavior of each of the bar elements (by
assembling their stiffness matrices and load vectors)

o Step 4: Apply appropriate boundary conditions and solve

 Stiffness matrix of bar element

1 E, A 2
x
f1x d 1x L f2x d 2x

L: Length of bar
A: Cross sectional area of bar
E: Elastic (Youngs) modulus of bar
:displacement of bar as a function of local coordinate
u(x) x of bar
The strain in the bar at
du
(x)


dx
The stress in the bar (Hookes law)
(x)
E (x)

 Select a Displacement Function

o Assume a displacement function u

o Assume a linear function.

u a1 a2 x
o Number of coefficients = number of DOF
o Write in matrix form:
a1
u 1 x
a
2
 Select a Displacement Function

Express u as function of d1 x and d2 x

u(0) a1 a2 (0) d1x a1

u(L) a1 a2 (L) d2 x a2L d1x
Select a Displacement Function
d 2 x d 1 x

u x d 1 x
L

x
x

d
1x
u 1
L L d 2 x
d 1 x
u N1 N2

d
2 x
Where :
x x
N1 1 and N2
L L
 Shape Functions

N1 and N2 are called Shape Functions or

Interpolation Functions.

They express the shape of the assumed displacements.

N1 =1 N2 =0 at node 1
N1 =0 N2 =1 at node 2
N1 + N2 =1
1 1
N1
N2

1 2

L
Displacement plotted along length of bar.

y d 2x
u
x
2
d 1x L

x
Strain/Displacement and Stress/Strain Relationships

d2 x d1 x

u
x
d1 x
L

du


d d
2x 1x
dx L
E
 d 2x
Tension in the bar
EA
T(x) x x
1 d1x d2x
u(x)
x d 1x x
L L
L

du d2x d1x
Strain is constant along the bar:
dx L
Stress is also constant along the bar: E
E
L
d 2x d1x
Tension is constant along the bar: T EA
EA
L

d 2x d1x
k
The bar is acting like a spring with stiffness EA
k
L
 1 E, A 2
x
f1x d 1x L f2x d 2x
Two nodes: 1, 2
Nodal displacements: d1x d2x
Nodal forces: f1x f2x
EA
Spring constant: k
L
Element stiffness matrix in local coordinates
f

f k d 1x k -k 1x
d
-k k
Element force Element f 2x d 2x
Element nodal
vector k
stiffness displacement f d
matrix vector
 Two-bar
E1, A1
E2, A2

L2
L1

This is equivalent to the following system of springs

E 1 A1 E 2 A2
k1 k2
L1 L2 x
1
Element 1 2 Element 2 3

d1x d2x d3x

 Rules That Govern Assembly

o Compatibility: The joint displacements of all

members meeting at a joint must be the same

o Equilibrium: The sum of forces exerted by all

members that meet at a joint must balance the
external force applied to that joint.
 Two-bar
E, 2A
E, A
1 P
2 3
L
L
Equivalent to the following system of springs
2EA EA
k1 k2
L L x
1
Element 1 2 Element 2 3

d1x d2x d3x

Compute the displacement at node 2 and then the stresses

within each element
Transformation of a Vector in 2 Dimensions
y
y
d
j x

j
i
i x

d dxi dy j dxi dy j
 Transformation of a vector in two dimensions

y v y cos Angle is
y vx x measured positive
v x
v y
in the counter
v vy
v x sin clockwise direction
from the +x axis)

v y sin x
v x cos

The vector v has components (vx, vy) in the global coordinate

^x,^
system and (v vy) in the local coordinate system.

v x v x cos v y sin
v y v x sin v y cos
In matrix form

v x cos sin v x

y sin cos v y
v
Or Direction cosines
v x l m v x l cos
v where
y
v m l y m sin
Transformation matrix for a single vector in 2D
l m
*
T
*
relates v T v
m l
v x v x are components of the same
where v and v
v y v y vector in local and global
coordinates, respectively.
Relationship between d and d for the truss element
d 1y
At node 1 d 1x * d1x
T d1y
d1y d1y d1x
d1x d 2y
At node 2 d 2x * d 2x
T d 2y
d 2y d 2y d
2x
Putting these together d Td d 2x

d1x
l m 0 0 d1x
d1y T *
0
m l 0 0 d1y
T
d *
d2x 0 0 l m 2x 4 4 0 T
0 0 m l d2y
d2y
T d

 Relationship between f and f for the truss element
f f f1y
At node 1 1x * 1x
T
f1y f 1y f1y
f1x
f f f2y
At node 2 2x * 2x f1x
T
f2y f 2y f 2y
f 2x
Putting these together f Tf f 2x
f
1x l m 0 0 f 1x

f 1y m l 0 0 f 1y T * 0
T
f2x
*
0 0 l m f 2x 4 4 0 T
0 0 m l f 2y
f2y
T f
f
Important property of the transformation matrix T

The transformation matrix is orthogonal, i.e. its inverse is

its transpose

1 T
T T
Use the property that l2+m2=1
 Putting all the pieces together

x f T f
y y d 2y , f2y
d T d
d 2x , f2x

f k d
d 1y , f1y
d 1x , f1x
T f k T d
x

f T 1 k T d
The desired relationship is f k d k
4 1 4 4 4 1

T
Where k T k T is the element stiffness matrix in the
4 4 4 4 4 4 4 4 global coordinate system
 l m 0 0 k 0 -k 0
0
m l 0 0 0 0 0
T k
0 0 l m -k 0 k 0
0 0
m l 0 0 0 0

l2 lm l 2 lm

EA lm m2 lm m
2
T
k T kT
L l 2 lm l2 lm

lm m 2 lm m 2

 Example Bar element for stiffness matrix evaluation
x
y y d 2y , f2y E 30 10 6 Pa
d 2x , f2x A 2 m2
L 60 m
d 1y , f1y
30
d 1x , f1x
3
x l cos 30
3 2
3 3 3
1
4 4 4 4 m sin 30
3 2
1 3 1

k
30 10 6 2 4
4 4 4


60 3 3 3 3
4
4 4 4

3 1 3 1

4
4 4 4
 Computation of element strains

x Element strain
y y d 2y , f2y
d 2x , f2x
d1x


d 1y , f1y d d d1y
1
d 1x , f1x 2x 1x
1 0 1 0
L L d2x
x
d2y
1
1 0 1 0 d
L
1
1 0 1 0 T d
L
 l m 0 0

1 m l 0 0
1 0 1 0 d
L l m
0 0
0 0 m l

1
l m l m d
L
d1x

1 d1y
l m l m
L d2x
d
2y
 Element stress and Force
Element stress is

E
E

E d2x d1x l
L L
m l m d

Element Force is

EA
T EA l m l m d
L
 Steps in solving a problem
o Step 1: Write down the node-element connectivity table
linking local and global nodes; also form the table of
direction cosines (l, m)
o Step 2: Write down the stiffness matrix of each element in
o global coordinate system with global numbering
o Step 3: Assemble the element stiffness matrices to form the
global stiffness matrix for the entire structure using the
node element connectivity table
o Step 4: Incorporate appropriate boundary conditions

o Step 5: Solve resulting set of reduced equations for the

unknown displacements
o Step 6: Compute the unknown nodal forces
Node element connectivity table

ELEMENT Node 1 Node 2

1 1 2
2 2 3

3 3 1

1 2 (x2,y2)
L
El 1 60 El 3

2 60 60 3 1 (x ,y )
1 1
El 2
Stiffness matrix of element 1 Stiffness matrix of element 2
d1x d1y d2x d2y d2x d2y d3x d3y
d1x d2x

k
(1)
d1y k
( 2)
d2y
d2x d3x

d2y d3y

Stiffness matrix of element 3

There are 4 degrees of
d3x d3y d1x d1y freedom (dof) per
d3x element (2 per node)

k
( 3)
d3y
d1x

d1y
 (1)
k
Global stiffness matrix
d1x d1y d2x d2y d3x d3y
d1x

d1y
( 2)
k
d2x
K d2y

d3x
( 3)
k
d3y
66

How do you incorporate boundary conditions?

 Example 2 The length of bars 12 and 23 are equal (L)
y E: Youngs modulus
3 A: Cross sectional area of each bar
El#2 P2
Solve for
P1 (1) d2x and d2y
El#1 (2)Stresses in each bar
2
45o
x Solution
1
Step 1: Node element connectivity table

ELEMENT Node 1 Node 2

1 1 2
2 2 3
Table of nodal coordinates
Node x y
1 0 0
2 Lcos45 Lsin45

3 0 2Lsin45

Table of direction cosines

ELEMENT Length x2 x1 y y
l m 2 1
length length
1 L cos45 sin45
2 L -cos45 sin45
Step 2: Stiffness matrix of each element in global coordinates
with global numbering
Stiffness matrix of element 1
l2 lm l 2 lm

EA lm m2 lm m 2

(1)
k
L l 2 lm l2 lm

lm m 2
lm m2

d1x d1y d2x d2

y
1 1 1 1 d1x
1 1 1 1
EA d1y

2L 1 1 1 1 d2x

1 1 1 1 d2y
Stiffness matrix of element 2
d2x d2y d3x d3y
1 1 1 1 d2x
1 1 1 1
(2) EA d2y
k
2L 1 1 1 1 d3x
d
1 1 1 1 3y
Step 3: Assemble the global stiffness matrix

1 1 1 1 0 0
1 1 1 1 0 0

EA 1 1 2 0 1 1
K
2L 1 1 0 2 1 1
0 0 1 1 1 1

0 0 1 1 1 1

The final set of equations is Kd F

Step 4: Incorporate boundary conditions
0
0

d 2 x


d
d 2 y
0


0

Hence reduced set of equations to solve for unknown

displacements at node 2

EA 2 0 d 2 x P1
0
2L 2 d 2 y P2
Step 5: Solve for unknown displacements

P1L
d 2 x
EA


d

2y P2L


EA
Step 6: Obtain stresses in the elements 0

For element #1: d 1x 0

d
E 1 1 1 1 1y

( 1)
d
L 2 2 2 2 2x
d 2 y
E P P2
(d 2 x d 2 y ) 1
2L A 2
For element #2: d 2 x
d
E 1 1 1 1 2y 0

( 2)

L 2 2 2 2 d 3 x 0
d 3 y
E P1 P2
(d 2 x d 2 y )
2L A 2
 Multi-point constraints
Inclined or Skewed Supports
y
x
y F2x 2 3

B.C. at node 3 fixes y displacement x

d 3x cos sin d 3 x
d sin
cos d 3 y
3 y

d t d
3 3 3

cos sin
t 3 sin cos

d T d
1

d T d
1
T

[I ] 0 0

T 1 0 [I ] 0
0 0 [t ]
3

f T f
1

f [K ] {d }
T f T K {d }
1 1

f T f T K T
1 1 1
T
d
F 1 x d 1x
F d
1y 1y
F 2 x d 2 x
F T 1 K T 1
T
d
2y 2y
F 3x d 3x

F 3y d 3y
Problem 3: For the plane truss
P=1000 kN,
y L=length of elements 1 and 2 = 1m
P 1m 3 E=210 GPa
2
A = 610-4m2 for elements 1 and 2
= 6 2 10-4 m2 for element 3
1m
Determine the unknown
45o displacements and reaction forces.
1 x
Solution
Step 1: Node element connectivity table
ELEMENT Node 1 Node 2
1 1 2
2 2 3
3 1 3
 3D Truss (space truss)

y
^
x
^
y 2

x
z
^
z
In local coordinate system
f k d
f d1x
1x
k 0 0 k 0 0
f 1y 0 d1y
0 0 0 0 0

f 1z 0 0 0 0 0 0 d1z

f2x k 0 0 k 0 0 d
2x
0 0 0 0 0 0
f2y d2y
0 0 0 0 0 0
f d2z
2z
 The transformation matrix for a single vector in 3D
d T d
*

l 1 m1 n1 l1, m1 and n1 are the direction cosines of^

x

T l 2 m2 n2
*
l 1 cos x
l 3 m3 n3
m1 cos y
2002 Brooks/Cole Publishing / Thomson Learning

n1 cos z
Transformation matrix T relating the local and global
displacement and load vectors of the truss element

d T d T *
0
T *


f Tf
66 0 T

Element stiffness matrix in global coordinates (3D)

k T k T T

66 66 66 66
 l 12 l 1m1 l 1n1 l 12 l 1m1 l 1n1

l 1m1 m1 m1n1 l 1m1 m1 m1n1
2 2

T

EA 1 1l n m n n 2
l n m n n 2
k T kT 2
1 1 1 1 1 1 1 1

L l 1 l 1m1 l 1n1 l1 2
l 1m1 l 1n1
l m m 2 m n l m m 2
m n
1 1 1 1 1 1 1 1 1 1

l 1n1 m1n1 n1 l 1n1 m1n1 n1
2 2
 Two-bar
E, 2A
E, A
1 P
2 3
L
L
Equivalent to the following system of springs
2EA EA
k1 k2
L L x
1
Element 1 2 Element 2 3

d1x d2x d3x

Compute the displacement at node 2 and then the stresses

within each element
 The global set of equations

k1 k1 0 d1x F1x
k
1 k1 k2 k2 d 2 x F2 x
0 k2 d F
k2 3x 3x
here d1x d3 x 0 and F2 x P
the above set of equations may be explicitly written as
k1d 2 x F1x (1)
(k1 k2 )d 2 x P (2)
k2 d 2 x F3 x (3)
P PL
From equation (2) d 2x
k1 k2 3EA
 Element Stresses Calculation

d 2 x d1x d 2 x P
(1)

L L 3EA

P
(1)
E (1)
(element in tension)
3A

d3 x d 2 x d2 x P

(2)

L L 3EA
P
E
(2) (2)
(element in compression)
3A
 Inter-element displacement continuity?

x x (2) x x
(1)
1 d1x d2x
u(x)
u(x) 1 d2x d3x
L L L L

x
1 2 2 3
1
d1x d2x d3x

Strain and Stresses Continuity?

Problem 3: For the plane truss
P=1000 kN,
y L=length of elements 1 and 2 = 1m
P 1m 3 E=210 GPa
2
A = 610-4m2 for elements 1 and 2
= 6 2 10-4 m2 for element 3
1m
Determine the unknown
45o displacements and reaction forces.
1 x
Solution
Step 1: Node element connectivity table
ELEMENT Node 1 Node 2
1 1 2
2 2 3
3 1 3
Table of nodal coordinates
Node x y
1 0 0
2 0 L

3 L L

Table of direction cosines

ELEMENT Length x2 x1 y y
l m 2 1
length length
1 L 0 1
2 L 1 0

3 L 2 1/ 2 1/ 2
Step 2: Stiffness matrix of each element in global coordinates
with global numbering
Stiffness matrix of element 1
l2 lm l 2 lm
2
( 1) EA lm m2 lm m
k
L l 2 lm l2 lm

lm m 2 lm m 2

d1x d1y d2x d2y

0 0 0 0 d1x
-4 0 1 0 1
(210 10 )(6 10 )
9
d1y

1 0 0 0 0 d2x
0 1 0 1
d2y
 Stiffness matrix of element 2 d2x d2y d3x d3y
1 0 1 0 d2x
-4
(2) (210 10 )(6 10 ) 0
9
0 0 0 d2y
k
1 1 0 1 0 d3x

0 0 0 0 d3y
Stiffness matrix of element 3
d1x d1y d3x d3y
d1x
0.5 0.5 0.5 0.5

(3 ) (210 10 9 )(6 2 10 -4 ) 0.5 0.5 0.5 0.5 d1y
k
2 0.5 0.5 0.5 0.5 d
3x
0.5 0.5 0.5 0.5 d3y
 Step 3: Assemble the global stiffness matrix
d1x d1y d2x d2y d3x d3y
0.5 0.5 0 0 0.5 0.5 d1x
0.5 1.5 0 1 0.5 0.5 d1y

0 0 1 0 1 0 d2x
N/m
K 1260 10 5 d2y
0 1 0 1 0 0
0.5 0.5 1 0 1.5 0.5 d3x
y
0.5 0.5 0 0 0.5 0.5 d3y
y
P 2 1m 3
The final set of equations is
Kd F 1m

45o
1 x
Step 4: Incorporate boundary conditions y
x
0 y
0 3
P El#2 3

d 2 x

2
2
d
0 El#1
d 3 x El#3

d 3 y

1 45o
x
1

d 3y 0 in the local coordinate system of element 3

Boundary condition should be converted in the global (x,y)

coordinates
 Transform from Global to Local Axis
1x 1y 2x 2y 3x 3y
0.5 0.5 0 0 0.707 0 1x
0.5 1.5 0 1 0.707 0 1y

0 0 1 0 0.707 0.707 2x
T 1 K T 1
T
1260 10
5

0 1 0 1 0 0 2y
0.707 0.707 0.707 0 1.5 0.5 3x

0 0 0.707 0 0.5 0.5 3y

1 -0.707
5 d 2 x

1000
1260 10 '
-0.707 1.5 d 3 x

0

 d ' 3 x 0.005613m
d 2 x 3d ' 3 x 0.0119m

Compute the reaction forces

F 1x 500
F 500

F
1y



2y 0 kN


F ' 3 y

707