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CIVL 7/8117

Chapter 3a - Development of Truss Equations

Stiffness Matrix for a Bar Element


Transformation Matrix and Stiffness Matrix for
a Bar in Three-Dimensional Space
The coordinates at node 1 are x1, y1, and z1, and the coordinates of node 2 are x2, y2, and z2. Also, let x, y, and z be
the angles measured from the global x, y, and z axes,
respectively, to the local axis.

Stiffness Matrix for a Bar Element


Transformation Matrix and Stiffness Matrix for
a Bar in Three-Dimensional Space
The three-dimensional vector representing the bar element is
gives as:
d ui vj wk u i v j w k

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CIVL 7/8117

Chapter 3a - Development of Truss Equations

Stiffness Matrix for a Bar Element


Transformation Matrix and Stiffness Matrix for
a Bar in Three-Dimensional Space
Taking the dot product of the above equation with i gives:
u(i i) v ( j i) w (k i) u
By the definition of the dot product we get:
i i

where

x2 x1
Cx
L

j i

y 2 y1
Cy
L

k i

z2 z1
Cz
L

L ( x2 x1 )2 ( y 2 y1 )2 ( z2 z1 )2

Cx cos x

Cy cos y

Cz cos z

where Cx, Cy, and Cz are projections of i on to i, j, and k,


respectively.

Stiffness Matrix for a Bar Element


Transformation Matrix and Stiffness Matrix for
a Bar in Three-Dimensional Space
Therefore:

u Cx u Cy v Czw

The transformation between local and global displacements is:


u1
v
1
u1 Cx Cy Cz 0 0 0 w1


u2 0 0 0 Cx Cy Cz u2
v2

w 2

d T *d
C C C 0 0 0
T* x y z

0 0 0 C x C y Cz

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CIVL 7/8117

Chapter 3a - Development of Truss Equations

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Stiffness Matrix for a Bar Element


Transformation Matrix and Stiffness Matrix for
a Bar in Three-Dimensional Space
The transformation from the local to the global stiffness matrix
is:
C 0
x

C 0
y
C 0 AE
k z
0 Cx L
0 Cy

0 Cz

k T TkT

Cx2

C xCy
AE CxCz
k

L Cx2
C C
x y
CxCz

1 1 Cx Cy Cz 0 0 0
1 1 0 0 0 C C C
y

x
z

C xC y
Cy2

C xC z
Cy Cz

Cx2
CxCy

C y Cz
CxCy
Cy2
Cy Cz

Cz2
CxCz
Cy Cz
Cz2

CxCz
Cx2
C xC y
C xC z

CxCy
Cy2
Cy Cz
C xCy
Cy2
C y Cz

CxCz

Cy Cz
2
Cz

C xC z
C y Cz

Cz2

Stiffness Matrix for a Bar Element


Transformation Matrix and Stiffness Matrix for
a Bar in Three-Dimensional Space
The global stiffness matrix can be written in a more convenient
form as:
Cx 2

CxCy
CxCz

C xCy
Cy

C y Cz

C x Cz

C y Cz
Cz 2

AE
L

CIVL 7/8117

Chapter 3a - Development of Truss Equations

Stiffness Matrix for a Bar Element


Example 8 Space Truss Problem
Consider the space truss shown below. The modulus of
elasticity, E = 1.2 x 106 psi for all elements. Node 1 is
constrained from movement in the y direction.
To simplify the stiffness matrices
for the three elements, we will
express each element in the
following form:

AE
L

Stiffness Matrix for a Bar Element


Example 8 Space Truss Problem
Consider element 1: L(1) ( x2 x1 )2 ( y 2 y1 )2 ( z2 z1 )2

L(1) ( 72)2 (36)2 80.5 in


72
0.89
80.5
36
Cy
0.45
80.5
Cz 0
Cx

0.79
0.40
0

0.40
0.20
0

0
0

46/80

CIVL 7/8117

Chapter 3a - Development of Truss Equations

Stiffness Matrix for a Bar Element


Example 8 Space Truss Problem
Consider element 1:
u v w
1

(0.302 in )(1.2 10 psi )


k

80.5 in

u v w
2

lb
in

Stiffness Matrix for a Bar Element


Example 8 Space Truss Problem
Consider element 2: L(2) ( x3 x1 )2 ( y 3 y1 )2 ( z3 z1 )2

L(2) ( 72)2 (36)2 (72)2 108 in


72
0.667
108
36
Cy
0.33
108
72
Cz
0.667
108
Cx

0.45
0.22
0.45

0.22
0.11
0.45

0.45
0.45

0.45

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CIVL 7/8117

Chapter 3a - Development of Truss Equations

Stiffness Matrix for a Bar Element


Example 8 Space Truss Problem
Consider element 2:
u v w
1

(0.729 in )(1.2 10 psi )



108 in

u v w
3

lb
in

Stiffness Matrix for a Bar Element


Example 8 Space Truss Problem
Consider element 3: L(3) ( x 4 x1 )2 ( y 4 y1 )2 ( z4 z1 )2

L(3) ( 72)2 ( 48)2 86.5 in


72
0.833
86.5
Cy 0
Cx

Cz

48
0.550
86.5

0.69
0
0.46

0
0
0

0.46
0

0.30

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CIVL 7/8117

Chapter 3a - Development of Truss Equations

Stiffness Matrix for a Bar Element


Example 8 Space Truss Problem
Consider element 3:
u v w
1

u v w

(0.187 in )(1.2 10 psi )



86.5 in

lb
in

The boundary conditions are:


u2 v 2 w 2 0
u3 v 3 w 3 0
u4 v 4 w 4 0
v1 0

Stiffness Matrix for a Bar Element


Example 8 Space Truss Problem
Canceling the rows and the columns associated with the
boundary conditions reduces the global stiffness matrix to:
u1

w1

9,000 2,450
K

2,450 4,450

The global force-displacement equations are:


9,000
2,450

2,450 u1 0

4,450 w1 1,000

Solving the equation gives:


u1 0.072 in

w1 0.264 in

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CIVL 7/8117

Chapter 3a - Development of Truss Equations

Stiffness Matrix for a Bar Element


Example 8 Space Truss Problem
It can be shown, that the local forces in an element are:

fix AE Cx

L Cx
f jx

Cy
Cy

Cz
Cz

Cx
Cx

Cy
Cy

The stress in an element is:

E
Cx
L

Cy

Cz

Cx

ui
v
i
Cz w i

Cz u j
v j

w j

ui
v
i
w i
Cz
uj
v j

w j

Cy

Stiffness Matrix for a Bar Element


Example 8 Space Truss Problem
The stress in element 1 is:
(1)

1.2 10 6
0.89
80.5

0.45

0.89

(1) 955 psi

0.45

0.072
0

0.264
0

0
0

The stress in element 2 is:


(2)

1.2 106
0.667
108

(2) 1,423 psi

0.33

0.667

0.667

0.33

0.072
0

0.264
0.667

0
0

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CIVL 7/8117

Chapter 3a - Development of Truss Equations

Stiffness Matrix for a Bar Element


Example 8 Space Truss Problem
The stress in element 3 is:
(3)

1.2 106
0.83
86.5

0.55

0.83

(3) 2,843 psi

0.072
0

0.264
0.55

0
0

Stiffness Matrix for a Bar Element


Inclined, or Skewed Supports
If a support is inclined, or skewed, at some angle for the
global x axis, as shown below, the boundary conditions on
the displacements are not in the global x-y directions but in
the x-y directions.

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CIVL 7/8117

Chapter 3a - Development of Truss Equations

Stiffness Matrix for a Bar Element


Inclined, or Skewed, Supports
We must transform the local boundary condition of v3 = 0
(in local coordinates) into the global x-y system.

Stiffness Matrix for a Bar Element


Inclined, or Skewed, Supports
Therefore, the relationship between of the components of the
displacement in the local and the global coordinate systems
at node 3 is:
sin u3
u '3 cos


v '3 sin cos v 3
We can rewrite the above expression as:
cos

t3 sin

d '3 [t3 ]d3

sin
cos

We can apply this sort of transformation to the entire


displacement vector as:

d ' [T1]d

or

d [T1]T d '

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CIVL 7/8117

Chapter 3a - Development of Truss Equations

Stiffness Matrix for a Bar Element


Inclined, or Skewed, Supports
Where the matrix [T1]T is:

[I ]
[T1 ]T [0]

[0]

[0]
[I ]
[0]

[0]
[0]

[t3 ]

Both the identity matrix [I] and the matrix [t3] are 2 x 2 matrices.
The force vector can be transformed by using the same
transformation.
f ' [T1]f
In global coordinates, the force-displacement equations are:

f [K ]d

Stiffness Matrix for a Bar Element


Inclined, or Skewed, Supports
Applying the skewed support transformation to both sides of
the equation gives:
[T1 ] f [T1 ][K ] d
By using the relationship between the local and the global
displacements, the force-displacement equations become:

f ' [T1][K ][T1]T d '


Therefore the global equations become:
F1x
F
1y
F2 x
T

[T1 ][K ][T1 ]


F2 y
F ' 3 x

F '3 y

u1
v
1
u2

v2
u '3

v '3

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CIVL 7/8117

Chapter 3a - Development of Truss Equations

Stiffness Matrix for a Bar Element


Example 9 Space Truss Problem
Consider the plane truss shown below. Assume E = 210 GPa,
A = 6 x 10-4 m2 for element 1 and 2, and A = 2 (6 x 10-4)m2
for element 3.
Determine the stiffness matrix
for each element.

C 2 CS C 2 CS

2
2
CS S
AE CS S
k
L C 2 CS C 2
CS

2
S2
CS
CS S

Stiffness Matrix for a Bar Element


Example 9 Space Truss Problem
The global elemental stiffness matrix for element 1 is:
C 2 CS C 2 CS

2
2
CS S
AE CS S
k
2
2
L C CS C
CS

2
S2
CS
CS S

cos (1) 0

sin (1) 1
u1

k (1)

v1

0 0
6
2
4
2
(210 10 kN / m )(6 10 m ) 0 1

0 0
1m

0 1

u2

v2

0 0
0 1

0 0

0 1

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CIVL 7/8117

Chapter 3a - Development of Truss Equations

Stiffness Matrix for a Bar Element


Example 9 Space Truss Problem
The global elemental stiffness matrix for element 2 is:
C 2 CS C 2 CS

2
2
CS S
AE CS S
k
2
2
L C CS C
CS

2
S2
CS
CS S

cos (2) 1

sin (2) 0
u2

k (2)

1
6
2
4
2
(210 10 kN / m )(6 10 m ) 0

1
1m

v2

0
0
0
0

u3

v3

1 0
0 0
1 0

0 0

Stiffness Matrix for a Bar Element


Example 9 Space Truss Problem
The global elemental stiffness matrix for element 3 is:
C 2 CS C 2 CS

2
2
CS S
AE CS S
k
2
2
L C CS C
CS

2
S2
CS
CS S

cos (3)

2
2

sin (3)

2
2
u1

(3)

v1

u3

v3

1 1 1
1

1 1 1
(210 106 kN / m 2 )(6 2 104 m 2 ) 1

1 1 1 1
2 2m

1 1 1 1

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CIVL 7/8117

Chapter 3a - Development of Truss Equations

Stiffness Matrix for a Bar Element


Example 9 Space Truss Problem
Using the direct stiffness method, the global stiffness matrix is:
0.5
0
0 0.5 0.5
1.5
0 1 0.5 0.5

0
1 0
0
1

1
0
1 0
0
1.5
0.5 1 0
0.5

0
0
0.5
0.5
0.5

0.5
0.5

0
K 1,260 10 5 N
m
0

0.5

0.5

We must transform the global displacements into local


coordinates. Therefore the transformation [T1] is:
[I ]
[T1 ] [0]

[0]

[0]
[I ]
[0]

[0]
[0]

[t3 ]

1
0

0
0

0
1
0
0
0
0

0
0
1
0
0
0

0
0
0
1
0
0

0
0
0
0
2

2
2

2
2

0
0
0
0

Stiffness Matrix for a Bar Element


Example 9 Space Truss Problem
The first step in the matrix transformation to find the product of
[T1][K].
K
T

T1 K

0
5 N
1, 260 10
m 0

0.5
0.5
5 N
T1 K 1,260 10 m 00
0.707
0

2
2

0.5 0.5
0.5
0 0
0.5
0.5 0.5
1.5
0 1
0.5

0
1
0
0
1
0
0

0
0
1
0
0
1
0

0.707 0.707 0.707 0 1.414 0.707


2


0
0 0.707 0 0.707
0
2

2
2

0.5

0.5

1.5

0.5
1

0.707
0

0.707
0.707

0
0

1.414
0.707

0
0
0.707

0
0.5

0.5

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CIVL 7/8117

Chapter 3a - Development of Truss Equations

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Stiffness Matrix for a Bar Element


Example 9 Space Truss Problem
The next step in the matrix transformation to find the product of
[T1][K][T1]T.
T

T1

T1 K

T1 K T1

1
0.5
0 0
0.5 0.5
0.5

0.5
1.5
0 1
0.5 0.5 0

0
0
1 0
0 0
1
1,260 105 N m
0
0 1
0
0 0
1

0.707 0.707 0.707 0 1.414 0.707

0
0
0 0.707 0 0.707
0

T1 K T1

0.5
0.5
5N
0

1,260 10
m 0
0.707
0

0.5
1.5

0
0

0 0.707
1 0.707

0
1

1
0

0 0.707
1
0

0.707
0

0.707
0.707

0
0

1.5
0.5

2
2

2
2

0.707
0
0.5

0.5
0
0

Stiffness Matrix for a Bar Element


Example 9 Space Truss Problem
The displacement boundary conditions are: u1 v1 v 2 v '3 0
F1x

0.5

F1y
0.5

F
0
2x

1,260 10 N m
0
F2 y

0.707
F
'
3x

F '

3y

0 0.707

0 u1

0.5

1.5
0

0 1 0.707
0 v1

1 0 0.707 0.707 u2

1
0
0.707 0.707
0 0.707

1
0
0

0
1.5
0.5

0 v 2

0.5 u '3

0.5 v '3

CIVL 7/8117

Chapter 3a - Development of Truss Equations

Stiffness Matrix for a Bar Element


Example 9 Space Truss Problem
By applying the boundary conditions the global forcedisplacement equations are:
1,260 105 N

0.707 u2 F2 x 1,000 kN
1

m 0.707 1.5 u '3 F '3 x 0

Solving the equation gives:

u2 11.91 mm

u '3 5.61 mm

Stiffness Matrix for a Bar Element


Example 9 Space Truss Problem

F1x
F
1y
F2 x
T

[T1 ][K ][T1 ]


F2 y
F '3 x

F '3 y

The global nodal forces are calculated as:


F1x
F
0.5
1y
0.5
F2 x

0
2N

1,260 10 mm
0
F
2y

F ' 3 x
0.707
0

F '3 y

0.5
1.5

0
0

0 0.707
1 0.707

1
0

0 0.707
1
0

0.707
0

0.707
0.707

Therefore:
F1x 500 kN

F1y 500 kN

F2 y 0

F '3 y 707 kN

0
0

1.5
0.5

u1
v
1
u2

v2
u '3

v '3

0 0
0 0

0.707 11.91
0
0

0.5
5.61
0.5 0

58/80

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