This document describes the process for developing the stiffness matrix for bar elements in a three-dimensional truss. It defines the local and global coordinate systems, presents the transformation between them, and derives the form of the 3D bar stiffness matrix. It then works through an example problem, defining the geometry, determining the element stiffness matrices, assembling the global stiffness matrix, solving for displacements, and calculating element stresses. The key steps are: 1) defining local and global coordinates, 2) deriving the transformation between them, 3) obtaining the 3D bar stiffness matrix in terms of the transformation, and 4) applying this to a sample space truss problem.
This document describes the process for developing the stiffness matrix for bar elements in a three-dimensional truss. It defines the local and global coordinate systems, presents the transformation between them, and derives the form of the 3D bar stiffness matrix. It then works through an example problem, defining the geometry, determining the element stiffness matrices, assembling the global stiffness matrix, solving for displacements, and calculating element stresses. The key steps are: 1) defining local and global coordinates, 2) deriving the transformation between them, 3) obtaining the 3D bar stiffness matrix in terms of the transformation, and 4) applying this to a sample space truss problem.
Original Description:
A designing example of analysing a 3 dimensional truss using direct stiffness method
This document describes the process for developing the stiffness matrix for bar elements in a three-dimensional truss. It defines the local and global coordinate systems, presents the transformation between them, and derives the form of the 3D bar stiffness matrix. It then works through an example problem, defining the geometry, determining the element stiffness matrices, assembling the global stiffness matrix, solving for displacements, and calculating element stresses. The key steps are: 1) defining local and global coordinates, 2) deriving the transformation between them, 3) obtaining the 3D bar stiffness matrix in terms of the transformation, and 4) applying this to a sample space truss problem.
This document describes the process for developing the stiffness matrix for bar elements in a three-dimensional truss. It defines the local and global coordinate systems, presents the transformation between them, and derives the form of the 3D bar stiffness matrix. It then works through an example problem, defining the geometry, determining the element stiffness matrices, assembling the global stiffness matrix, solving for displacements, and calculating element stresses. The key steps are: 1) defining local and global coordinates, 2) deriving the transformation between them, 3) obtaining the 3D bar stiffness matrix in terms of the transformation, and 4) applying this to a sample space truss problem.
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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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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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
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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
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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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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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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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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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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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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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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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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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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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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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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
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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
