SKAB 4223

Structural Analysis
Stiffness Method - Truss
(part 1)

Dr. Khairul Hazman Padil

Department of Structure and Material
School of Civil Engineering
Faculty of Engineering

khairulhazman@utm.my
Objective
• To expose students to the analysis of indeterminate truss structures
using matrix stiffness method. The method underlies the basis for the
computer analysis software.
• To train students to use computer software for analysing truss stuctures.

2
Learning Outcome
• At the end of the chapter, students should be able to analyze truss
structures using stiffness matrix method and verify its results using
computer software.
• Create truss model and analyze it using STAADPro or any other
equivalent structural analysis software

3
Scope

• Basic concepts of stiffness matrix analysis

• Formulation of stiffness matrix for truss element by direct stiffness
method
• Formation of system equilibrium equation
• Solution of linear elastic equation
• Use of STAAD PRO (or other equivalent commercial analysis software)

4
Outline

• Fundamentals of the stiffness method

• Truss member stiffness matrix
• displacement and force transformation matrix
• Truss member global stiffness matrix
• Truss system stiffness matrix
• Application of the stiffness method for truss analysis
• Nodal coordinates
• Trusses having thermal changes & fabrication errors
• Space-truss analysis

5
Fundamental

• The stiffness method:

• Is a displacement method of analysis
• Can be used to analyze both statically determinate and indeterminate
structures
• Yields the displacement & forces directly
• It is generally much easier to formulate the necessary matrices for the
computer using the stiffness method

6
• Application of the stiffness method requires subdividing the structure
into a series of discrete finite elements & identifying their end points
as nodes
• For truss analysis, the finite elements are represented by each of the
members that compose the truss & the nodes represent the joints

7
8
• Truss: pinned joint structures where loads and support are at the joints only. All
members are connected by pin at both ends

9
• The force-displ properties of each element are determined & then
related to one another using the force equilibrium eqn written at the
nodes
• These relationships for the entire structure are then grouped together
into the structure stiffness matrix, K
• The unknown displ of the nodes can then be determined for any
given loading on the structure
• When these displ are known, the external & internal forces in the
structure can be calculated using the force-displ relations for each
member

10
Symbols used
• The following symbols / nomenclatures should be followed
d = local displacement
D = global component displacement
q, f = local force
q0, f F = local fixed end force
Q, F = global component end forces
Q0 , F F = initial global fixed end force
k' = local stiffness
T = transformation matrix
k = member global stiffness matrix
K = System/assembeled global stiffness matrix
N, b = near, begin node
F, e = far, end node
11
Member and Node Identification
• Member, also known as element, is identified by number or label
• Members are joined together by nodes
• Node also is also added at a point where the point load is applied and
where the response of the structure is to be determined.
• Element connectivity, identified by arrow from Near (N) to Far (F) ends
• Member, node and connectivity can be assigned arbitrarily

12
13
Global and Local Coordinate
• Global coordinate, x –y : refer to the whole structure
• Local coordinate, x’ – y’: refer to member direction
• The orthogonal axes of the Cartesian coordinate system shall follow the right hand
rule.
• Positive rotation and positive moment are defined in terms of the right hand rule.

14
Degree of Freedom
• In mechanics, degrees of freedom (DOF) are the set of independent
displacements and/or rotations that specify completely the displaced or deformed
position and orientation of the body or system.
• Each displacement component is a Degree of Freedom.
• The number of the DOF is the function of the manner in which the real structure
has been idealized for analysis
• Unconstrained DOF (Free DOF) – unknown displacement component
• Constrained DOF (Fixed DOF) – Zero or predefined displacement component
• 2D truss – 2 DOF per node
• 2D frame – 3 DOF per node

15
• Identified by code number, 1 through 8
• 1 through 5 – Unconstrained DOF
• 6 through 8 – Constrained DOF
• In any structure there will be a minimum number of DOF that must be considered
to arrive at a sensible result

16
Member Connectivity and Reference
Coordinates
• Arbitrary selection of Near (N) and Far (F) nodes determined the member
connectivity
• Truss system is referenced by Global coordinate and the individual members are
referenced by local coordinates

17
Definition of Stiffness
• The stiffness, k, of a body is a measure of the resistance offered by an
elastic body to deformation.
• For an elastic body with a single Degree of Freedom (for example,
stretching or compression of a rod), the stiffness is defined as

F
k=
d

18
• Stiffness is a property of a structure, which is an extensive property of
the solid body dependent on the material and the cross section shape
and boundary conditions. For example, for an element in tension or
compression, the axial stiffness is
AE
k=
L
• Rotational stiffness is
nEI
k=
L
Where n is integer depending on Boundary Condition

19
Equilibriums at Joints

d1 d2

1 2

d
q q

d2
q d1
L1 L2 L1 L2

  AE   AE  
q =   +  d
  L 1  L 2 
Example 1
2
F1 F1 1
Joint 1
F2x 1 q2
F1y

F1x F2y 6 1 2 4
q1 3
5 3
3 2
F1 = F1x + F2 x

 AE  2  AE   AE  2  AE 
F1 =   1
c ( D1 − D5 ) +   11 2
c s ( D − D6 ) +   2
c ( D1 − D3 ) +   c2 s2 ( D2 − D4 )
 L 1  L 1  L 2  L 2

  AE  2  AE  2    AE   AE    AE  2
F1 =    1 
c + c D +
 2  1   11 
c s +  2 2 2 
c s D −  c2 D3
 L 1  L 2   L 1  L 2   L 2
 AE   AE  2  AE 
−  2 2 4 
c s D −  1 5 
c D −  c1s1 D6
 L 2  L 1  L 1

21
The equilibrium of forces in y-direction at node 1 is,

F2 = F1 y + F2 y

 AE   AE  2  AE   AE  2
0=  11 1
c s ( D − D5 ) +   1s ( D2 − D6 ) +   2 2 1
c s ( D − D3 ) +   s2 ( D2 − D4 )
 L 1  L 1  L 2  L 2

  AE   AE     AE  2  AE  2   AE 
0 =   11 
c s + c s D +
 2 2  1  s +
 1   2  2 
s D −  c2 s2 D3
  L 1  L 2    L 1  L 2   L 2
 AE  2  AE   AE  2
−  2 4 
s D −  11 5 
c s D −  s1 D6
 L 2  L 1  L 1
Joint equilibrium
2
F2y F1 1
F2x F3x 1 q2
Joint 2
R4 6 1 2 4
q1 3
5 3
F3 = F2 x + F3x 3 2

 AE  2  AE   AE  2  AE 
F3 =   2
c ( D3 − D1 ) +  c s (
 2 2 4 D − D2 ) +   3
c ( D3 − D5 ) +   c3 s3 ( D4 − D6 )
 L 2  L 2  L 3  L 3
Recognizing that F3 = 0

 AE  2  AE    AE  2  AE  2   AE   AE  2
0 = − −
 2 1 
c D c s D +
 2 2 2   c2 +   c3  D3 +   c2 s2 D4 −   c3 D5
 L 2  L 2   L 2  L 3   L 2  L 3

 AE   AE  2
R4 = F2 y =  c2 s2 ( D3 − D1 ) +   s2 ( D4 − D2 )
 L 2  L 2
 AE   AE  2  AE   AE  2
= −  2 2 1 
c s D −  2 2 
s D +  2 2 3 
c s D +  s2 D4
 L 2  L 2  L 2  L 2
23
Equilibrium of the System
2
  AE  2  AE  2    AE   AE  
F1 =   c +
 1   2  1 
c D +  11 
c s +  2 2  D2
c s F1 1
  L 1  L 2    L 1  L 2  1 q2
 AE  2  AE   AE  2  AE 
−  c2 D3 −   c2 s2 D4 −   c1 D5 −   c1s1 D6 1 2
 L 2  L 2  L 1  L 1 6 4
q1 3
5 3
  AE   AE     AE  2  AE  2 
0 =   11 
c s + c s D +
 2 2  1   s1 +   s2  D2 3 2
 L 1  L 2   L 1  L 2 
 AE   AE  2  AE   AE  2
−  2 2 3 
c s D −  2 4 
s D −  11 5 
c s D −  s1 D6
 L 2  L 2  L 1  L 1
 AE  2  AE    AE  2  AE  2   AE   AE  2
0 = −  2 1 
c D −  2 2 2 
c s D +  2 
c +  3  3 
c D +  2 2 4 
c s D −  c3 D5
 L 2  L 2  L 2  L 3   L 2  L 3
 AE   AE  2  AE   AE  2
R4 =  c s D +
 2 2 1  s D −
 2 2  c s D −
 2 2 3   s2 D4
 L 2  L 2  L 2  L 2
 AE  2  AE   AE  2   AE  2  AE  2   AE 
R5 = −   1 1 
c D −  11 2 
c s D − c D +
 3 3   1 
c + c D +
 3  5   c1s1D6
 L 1  L 1  L 3  L 1  L 3   L 1

 AE   AE  2  AE   AE  2
R6 = −   11 1 
c s D −  1 2 
s D +  11 5 
c s D +  s1 D6
 L 1  L 1  L 1  L 1 24
Equilibrium of the System
2

F1 1
1 q2

6 1 2 4
q1 3
5 3
3 2

  AE  2  AE  2  AE   AE   AE  2  AE   AE  2  AE  
  L  c1 +  L  c2   c1s1 +   c2 s2 −  c2 −  c2 s2 −  c1 −  c1s1 
 1  2  L 1  L 2  L 2  L 2  L 1  L 1 
 AE   AE   AE  2  AE  2  AE   AE  2  AE   AE  2 
  c1s1 +   c2 s2   s1 +   s2 −  c2 s2 −  s2 −  c1s1 −  s1 
 F1   L 1  L 2  L 1  L 2  L 2  L 2  L 1  L 1   D1 
0    D2 
    AE  2  AE   AE  2  AE  2  AE   AE  2
−  c2 −  c2 s2   c2 +   c3   c2 s2 −  c3 0  
 0    L 2  L 2  L 2  L 3  L 2  L 3   D3 
 =  D 
 R4    AE   AE  2  AE   AE  2
−  c2 s2 −  s2   c2 s2   s2 0 0  4
 R5    L 2  L 2  L 2  L 2   D5 
    D 
 R6    AE  2  AE   AE  2  AE  2  AE  2  AE   6 
−  c1 −  c1s1 −  c3 0   c1 +   c3   c1s1 
  L 1  L 1  L 3  L 1  L 3  L 1 
 
  AE   AE  2  AE   AE  2 
−  c1s1 −  s1 0 0   c1s1   1 
s
  L 1  L 1  L 1  L 1 

25
Example 2
Calculate the displacements at DOF 1, 2, 3 for the given truss
2
 AE  0.0001  200(10 )
6
1
 = = 4717 20kN

 L 1 4.24 1 q2
c1 = cosq1 = 0.707
3m
s1 = sin q1 = 0.707 6 1 2 4
q1 3
5 3
 AE  0.0001  200(106 ) 2
  = = 4000 3
 L 2 5 3m 4m

c1 = cosq 2 = 0.8
A = 100 mm2
s1 = sin q 2 = −0.6 E = 200 GPa

 AE  0.0001  200(10 )
6 20   4921 441 -2560 1920 -2361 -2361  Q1 
  = = 2857  0   441 -2361  Q2 
 L 3 7
   3801 1920 -1440 -2361
c1 = cosq3 = 1  0   -2560 1920 5417 -1920 -2857 0   Q3 
s1 = sin q3 = 0  =  
 R4   1920 -1440 -1920 1440 0 0  Q4 = 0 
 R5   -2361 -2361 -2857 0 5219 2361  Q5 = 0 
    
 R6   -2361 -2361 0 0 2361 2361  Q6 = 0 
26
 2

20   4921 441 -2560  Q1  20kN 1

    
1920  Q2 
q2
 0  =  441
1
3801
 0  -2560 5417  Q3 
   1920 3m
6 1 2 4
−1 q1
 Q1   4921 441 -2560  20  0.0064  5
3
       3
Q2  =  441 3801 1920   0  = −0.0028 m 3 2

Q  -2560 5417      3m 4m
 3  1920  0   0.0040 
A = 100 mm2
E = 200 GPa

Calculate the reaction forces at DOF 4, 5, 6

 R4   1920 -1440 -1920   0.0064   8.57  kN

      
 R5  = -2361 -2361 -2857  −0.0028 = −20.00  kN
 R  -2361 0   0.0040   −8.57  kN
 6  -2361

27
Truss Member Stiffness Matrix

• To establish the stiffness matrix for a

single truss member using local x’ and y’
coordinates as shown in Fig 14.2
• When a +ve displ dN is imposed on the
near end of the member (Fig. 14.02a)
while the far end is held pinned, the
forces developed at the ends of the
members are:

AE AE
q' N = d N ; q' F = − dN
L L
28
• Likewise, a +ve displ dF at the far end, keeping the near end pinned,
Fig 14.02(b) results in member forces

AE AE
q' ' N = − d F ; q' ' F = dF
L L

29
• By superposition, Fig 14.2(c), the resultant forces caused by both displ
are
AE AE
q' ' N = − d F ; q' ' F = dF
L L

AE AE
qN = dN − d F eqn 14.1
L L
AE AE
q' N = d N ; q' F = − dN qF =
AE
dF −
AE
d N eqn 14.2
L L
L L

30
• These load-displ eqn may be written in matrix form as:

 qN  AE  1 − 1  d N 
q  =    
 F L  −1 1   d F 
q = k 'd eqn 14.3
AE  1 − 1
k'=
L  −1 1 
eqn 14.4

• This matrix, k’ is called the member stiffness matrix

31
Displacement & Force Transformation
Matrices
• Since a truss is composed of many members, we will develop a method for
transforming the member forces q and displ d defined in local coordinates to global
coordinates
• Global coordinates convention: +ve x to the right and +ve y upward
• qx and qy as shown

32
• The cosines of these angles will be used in the matrix analysis as follows
• These will be identified as
x = cos q x ; y = cos q y
c = cos q x ; s = cos q y

• For e.g. consider member NF of the truss

• The coordinates of N & F are
(xN, yN ) and (xF, yF ) respectively

33
 xF − x N
x = cosq x =
L
xF − x N
= Eqn 14.5
( xF − x N ) 2 + ( y F − y N ) 2

yF − yN
 y = cosq y =
L
yF − y N
= Eqn 14.6
( xF − x N ) 2 + ( y F − y N ) 2

34
Displacement Transformation Matrix

• In global coordinates each end of the member can have 2 degrees of

freedom or independent displ; namely joint N has DNx and DNy, Fig
14.5(a) and 14.5(b)
• Joint F has DFx and DFy, Fig 14.5(c) and 14.5(d)
• When the far end is held pinned & the near end is given a global displ,
Fig 14.5(a), the corresponding displ along the member is Dnxcos qx

35
Fig. 14.5
• A displ DNy will cause the member to be displaced Dnycosqy along the x’ axis, Fig
14.5(b)
dN = DN cos q x + DN cos q y
x y

dF = DF cos q x + DF cos q y
x y

Let x = cos q x ; y = cos q y

dN = DN x + DN y ; dF = DF x + DF y
x y x y

In matrix form,
 DN 
 
x

dN  x y 0 0   DN  Eqn. 14.7

 =
y

 
d
 F   0 0 x
   DF
y x 
D 
 F y 
d = TD Eqn. 14.8
37
 d = TD

• T transforms the 4 global displ components into 2 local x’ displ

• Hence, T is referred to as the displ transformation matrix

x y 0 0
T= 
 0 0 x y 

38
Force Transformation Matrix

• Consider Fig 14.6(a)

QN x = qN cosq x ; QN y = qN cosq y

Fig. 14.6

39
• If qF is applied to the bar, Fig 14.6(b), the global force components at F are:

QFx = qF cosq x ; QFy = qF cosq y

 x = cosq x ;  y = cosq y

QN x = q N  x ; QN y = q N  y
QFx = q F  x ; QFy = q F  y

Fig. 14.6
40
• In matrix form

QN x  x 0 
   
Q
 Ny   y 0  q N 
Q  = 0   q  Eqn. 14.10
 Fx   x  F 

QF  0  y 
 y
Q = TT q Eqn. 14.11

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• In this case, TT transforms the 2 local forces q acting at the ends of the member
into 4 global force components Q
• This force transformation matrix is the transpose of the displ transformation
matrix

 x 0 
 0  
T =
T  y
Eqn. 14.12
0 x 
 
0  y 

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