Truss Equations

Sping 2003 Truss Elements 1

Bar Element

 Linear elastic bar element

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

Sping 2003 Truss Elements 2

Bar Element
y
ŷ
x̂, û
T
2

L
d̂ 2x , f̂ 2x
1
T
θ
d̂ 1x , f̂1x

x
 σ = Eε
dû
ε=
dx̂
Aσ x̂ = T = Aσ

d  dû 
 AE  = 0
dx̂  dx̂ 
Sping 2003 Truss Elements 4
Assumptions
The bar cannot resist shear
forces. f̂1ŷ = f̂ 2ŷ = 0
That is:
Effects of transverse
displacements are ignored.
Hooke’sσlaw
x = applies.
Eε x
That is:
Sping 2003 Truss Elements 5
Step 1 - Select the Element
Type.

The bar element is

selected with the
properties previously
discussed.

Sping 2003 Truss Elements 6

Step 2 - Select a
Displacement Function

Assume a displacementû
function
Assume a linear function.
û = a1 + a 2 x̂
Number of coefficients =
number of d-o-f
a1 
û = [ 1 x̂]  
Write in matrix form: a 2
Sping 2003 Truss Elements 7
Express û as function of d̂1x and d̂ 2x

û(0) = a1 + a 2 (0) = d̂1x = a1

û(L ) = a1 + a 2 (L ) = d̂ 2 = a 2 L + d̂1x

Sping 2003 Truss Elements 8

  dˆ 2x  dˆ 1x 
uˆ    ˆ  dˆ 1x
x
L 
 
 xˆ xˆ   d̂1x 
û   1   
 L L  
ˆ
 d  2x 
 d̂1x 
û   N1 N2   
 d̂ 2x 
Where :
xˆ xˆ
N1  1  and N 2 
L L

Sping 2003 Truss Elements 9

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

Sping 2003 Truss Elements 10

 1 1
N1
N2

1 2

Sping 2003 Truss Elements 11

 Displacement plotted along length of bar.

y d̂ 2x
û
x̂

2
d̂ 1x L

1
θ

x
Sping 2003 Truss Elements 12
 Displacement plotted along length of bar.

y
û
d̂ 2x x̂

2
d̂ 1x L

1
θ

x
Sping 2003 Truss Elements 13
Step 3 - Define
Strain/Displacement and
Stress/Strain Relationships
 dˆ 2x  dˆ 1x 
uˆ    ˆ
x  ˆ
d
L  1x
 


duˆ

 dˆ 2x  dˆ 1x 
dxˆ L
  E
Sping 2003 Truss Elements 14
Element Stiffness Matrix
and Equations

T = Aσ
(
 d̂ 2x − d̂ 1x
T = AEε = AE
) 
 L 
 
(
 d̂ 1x − d̂ 2x
f̂1x = −T = AE
) 
 L 
 

Sping 2003 Truss Elements 15

Element Stiffness Matrix
and Equations

f̂ 2x = T
(
 d̂ 2x − d̂ 1x
f̂ 2x = T = AE
) 
 L 
 

Sping 2003 Truss Elements 16

Element Stiffness Matrix
and Equations

f̂1x  AE  1 − 1  d̂ 1x 
 =    
f̂ 2x  L  − 1 1  d̂ 2x 

[ ]
k̂ =
AE  1 − 1

L − 1 1 

Sping 2003 Truss Elements 17

 Step 5 - Assemble the
Element Equations to Obtain
the Global Equations and
Introduce the B.C.

[ K ] = ∑ [ k̂ ]
N
(e )

e =1

{ F} = ∑ { f̂ }
N
(e )

e =1

Sping 2003 Truss Elements 18

Step 6 - Solve for Nodal
Displacements

Obtain :
[ K ] { d} = { F}
Then Solve!

Sping 2003 Truss Elements 19

Step 7 - Solve for Element
Forces

Once displacements at each

node are known, then substitute
back into element stiffness equations
to obtain element nodal forces.

Sping 2003 Truss Elements 20

Three Bar Assembly
3000 lb

1 2 3 4
1 3 x

2
30 in 30 in 30 in
90 in

Elements 1 & 2 Element 3

E = 30 x 106 psi E = 15 x 106 psi
A = 1 in2 A = 2 in2

Sping 2003 Truss Elements 21

For element 1 :
 f̂ 1 x   k 1 − k 1   d̂ 1 x 
 =  
 f̂ 2 x   − k 1 k 1   d̂ 2 x 

For element 2 :
 f̂ 2 x   k 2 − k 2   d̂ 2 x 
 =  
 f̂ 3 x   − k 2 k 2   d̂ 3 x 

For element 3 :
 f̂ 3 x   k 3 − k 3   d̂ 3 x 
 =  
 f̂ 4 x   − k 3 k 3   d̂ 4 x 
For elements 1 & 2 :
 f̂ 1 x
  k 1 − k 1   d̂ 1 x 
 =  
  − k 1
 f̂ 2 x k 1   d̂ 2 x 
A 1 E1
k1 =
L1
6
A 1 = 1 E 1 = 30 x 10 L 1 = 30
( 1 ) ( 30 x 10 6
)
k1 =
( 30 )
For elements 1 & 2 :
 1 − 1
[ k̂ ]
(1) 6
= 10  
 − 1 1 
6
A 2 = 1 E 2 = 30 x 10 L 2 = 30
[ k̂ ] = [ k̂ ]
(2) (1)
For element 3 :
 f̂ 3 x
  k 3 − k 3   d̂ 3 x 
 =  
  − k 3
 f̂ 4 x k 3   d̂ 4 x 
A 3E3
k3 =
L3
6
A 1 = 2 E 1 = 15 x 10 L 1 = 30
( 2 ) ( 15 x 10 6 )
k3 =
( 30 )
 For element 3 :
 1 − 1
[ k̂ ]
(3) 6
= 10  
 − 1 1 

Sping 2003 Truss Elements 26

 Assemble Global force matrix
(1)
F1x = f̂1x
(1) ( 2)
F2x = f̂ 2x + f̂ 2x
( 2) ( 3)
F3x = f̂ 3x + f̂ 3x
( 3)
F4x = f̂ 4x

Sping 2003 Truss Elements 27

  k1 − k1 0 0 
− k k1 + k 2 − k2 
0 
[K] = 
 1
0 − k2 k2 + k3 − k3
 
 0 0 − k3 k3 
 1 −1 0 0
− 1 2 − 1 0 
[ K ] = 10 6  
 0 − 1 2 − 1
 
0 0 −1 1 

Sping 2003 Truss Elements 28

  F1x   1 −1 0 0   d 1x 
F   − 1 2 − 1 0  d 
 2x  6   2x 
  = 10  
F3x   0 − 1 2 − 1 d 3x 
F4x   
0 0 − 1 1  d 4x 

B.C.' s
d 1x = 0 d 4x = 0

Sping 2003 Truss Elements 29

 3000 6 2 − 1 d 2x 
  = 10    
 0   − 1 1  d 3x 

Solution :
d 2x = 0.002 in d 4x = 0.001 in

Sping 2003 Truss Elements 30

  F1 x   1 −1 0 0  0 
    
 F2 x  6
 − 1 2 − 1 0   0.002 
  = 10   
 F3 x   0 − 1 2 − 1   0.001 
    
 F4 x   0 0 − 1 1   0 
 F1 x   − 2000 lb 
   
 F2 x   3000 lb 
 = 
 F3 x   0 lb 
   
 F4 x   − 1000 lb 

Sping 2003 Truss Elements 31

Appropriate Displacement
Functions
Usually Polynomials
Continuous within element.
Inter-element compatibility.
Prevent overlap or voids.
Allow for rigid body displacement
and constant strain.

Sping 2003 Truss Elements 32

 û  constant
d̂1x  a1
d̂ 2x  a1
a2  0
û  N1dˆ 1x  N 2dˆ 2x  (N1  N 2 )a1
N1  N 2  1

Sping 2003 Truss Elements 33

 Transformation of a Vector
in 2 Dimensions
y
ŷ

d
j x̂

ĵ
î

 i x
d = d x i + d y j = dˆ x î + dˆ y ĵ
Transformation of a Vector
in 2 Dimensions

ŷ y

b ′ j x̂
ĵ
î
θ
a θ
a′ b
i x
 a+b = i
a = i cos θ
i =1
a = cos θ
b = sin θ
a = cos θ î
b = sin θ ( − ĵ)
i = cos θ î − sin θ ĵ
Sping 2003 Truss Elements 36
 a′ + b′ = j
a′ = cos θ ĵ
b ′ = sin θ î
j = sin θ î + cos θ ĵ

Sping 2003 Truss Elements 37

d = d x i + d y j = dˆ x î + dˆ y ĵ
d x (cos θ î − sin θ ĵ) + d y (sin θ î + cos θ ĵ)
= dˆ x î + dˆ y ĵ
d x cos θ + d y sin θ = dˆ x
- d x sin θ + d y cos θ = dˆ y

dˆ x   C S  d x 
ˆ =    
d y   − S C d y 
  C S
  Tranformation matrix
 − S C 

C = cos θ
S = sin θ
Sping 2003 Truss Elements 39
Global Stiffness Matrix

f̂1x  AE  1 − 1 d̂ 1x 
 =    
f̂ 2x  L  − 1 1  d̂ 2x 

{ f̂ } = [ k̂ ] { d̂}
Want :
{ f } = [ k ] { d}
Sping 2003 Truss Elements 40
Global Stiffness Matrix

{ f } = [ k ] { d}

 f 1x   d 1x 
f  d 
 1y   1y 
{ f } = f  { d} = d 
 2x   2x 
f 2y  d 2y 
   

Sping 2003 Truss Elements 41

 d̂ 1x = d 1x cos θ + d 1y sin θ
d̂ 2x = d 2x cos θ + d 2y sin θ
 d 1x 
d 
 d̂ 1x  C S 0 0   1y 
 =   
d̂ 2x   0 0 C S  d 2x 
d 2y 
 
{ d̂} = [ T* ]{ d}
Sping 2003 Truss Elements 42
 f̂1x = f1x cos θ + f1y sin θ
f̂ 2x = f 2x cos θ + f 2y sin θ
 f1x 
f 
 f̂1x  C S 0 0   1y 
 =   
f̂ 2x   0 0 C S  f 2x 
f 2y 
 
{ f̂ } = [ T* ]{ f }
Sping 2003 Truss Elements 43
 { f̂ } = [ k̂ ] {d̂ }
{ d̂ } = [ T ] { d }
*

{ f̂ } = [ k̂ ] [ T ] { d }
*

{ f̂ } = [ T ] { f }
*

[ T ] { f } = [ k̂ ] [ T ]{ d }
* *

Sping 2003 Truss Elements 44

  d̂ 1x   C S 0 0   d 1x 
    d 
 d̂ 1y   − S C 0 0   1y 
 =  
d̂ 2x   0 0 C S  d 2x 
d̂ 2y   0 0 − S C d 2y 
   
{ d̂} = [ T] { d}
{ f̂ } = [ T] { f }
Sping 2003 Truss Elements 45
  C S 0 0
− S C 0 0 
[ T] =  
 0 0 C S
 
 0 0 − S C

Sping 2003 Truss Elements 46

 Expand [k] to 4x4 size:

 f̂1x  1 0 − 1 0   d 1x 
    d 
f̂1y  AE  0 0 0 0   1y 
 =  
f̂
 2x  L  −1 0 1 0  d 2 x 
f̂ 2y   
   0 0 0 0 d 2y 

Sping 2003 Truss Elements 47

 [ T ] { f } = [ k̂ ] [ T ] { d }
{ f } = [ T ] [ k̂ ] [ T ] { d }
−1

[ T] = [ T]
−1 T

{ f } = [ T ] [ k̂ ] [ T ] { d }
T

[ k ] = [ T ] [ k̂ ] [ T ]
T

Sping 2003 Truss Elements 48

  C2 CS − C 2
− CS 
 2 2 
AE  CS S − CS − S 
[ k] =  2
L −C − CS C 2
CS 
 2 2

 − CS − S CS S 

Sping 2003 Truss Elements 49

EXAMPLE

y A=2 in2
E=30 x 106 psi
L=60 in
x̂

30o

Sping 2003 Truss Elements x 50

  C2 CS − C 2 − CS 
 
AE  CS S 2
− CS − S 2 
[ k] =  
L  − C 2 − CS C 2 CS 
 
 − CS − S 2 CS S 2 
θ = 30 o
3
C=
2
1
S=
2
Sping 2003 Truss Elements 51
  3 3 3 3
 − − 
 4 4 4 4 
 3 1 3 1 
( 2)( 30x10 6 )  4 − − 
[ k] =  3
4 4 4

60 3 3 3 
 − −
 4 4 4 4 
 3 1 3 1 
− − 
 4 4 4 4 

Sping 2003 Truss Elements 52

 0.75 0.433 − 0.75 − 0.433
 0 .25 − 0 . 433 − 0. 25 
[ k ] = 10 6  
 0.75 0.433 
 
 symmetric 0.25 

Sping 2003 Truss Elements 53

 Stress Computation

f̂1x  AE  1 − 1  d̂ 1x 
 =    
f̂ 2x  L  − 1 1  d̂ 2x 
y
x̂

2
L
f̂ 2x

f̂1x x
1
Stress Computation
f̂ 2x
σ=
A

AE  d̂ 1x 
f̂ 2x = [ − 1 1]  
L d̂ 2x 

f̂ 2x 1  AE d̂ 1x   E d̂ 1x 
σ= =

[ − 1 1]   

= [ − 1 1]  
A A L d̂ 2x   L d̂ 2x 

Sping 2003 Truss Elements 55

Stress Computation
E d̂ 1x 
σ = [ − 1 1]  
L d̂ 2x 
E d̂ 1x 
σ = [ − 1 1]  
L d̂ 2x 
{ d̂} = [ T* ] { d}
E
σ = [ − 1 1] T* { d}
L
[ ]
σ = [ C′] { d}
Sping 2003 Truss Elements 56
Stress Computation

σ = [ C′] { d}
E C S 0 0 
[ C′] = [ − 1 1]  
L  0 0 C S
E
[ C′] = [ − C − S C S ]
L

Sping 2003 Truss Elements 57

Example
A = 4 x 10-4 m2
x̂
E = 210 GPa
y
θ = 60o
d1x = 0.25 mm
2 d1y = 0.0 mm
d2x = 0.50 mm
d2y = 0.75 mm
60o
x
1
Sping 2003 Truss Elements 58
Stress Computation

210 x 10 6 kN / m  1 3 1 3
[ C′] = − − 
2m  2 2 2 2 
 d 1x  0.25 x 10 − 3 m 
d   
 1y   0.0 m 
{ d} =   =  −3 
d
 2x  0.50 x 10 m 
d 2y  0.75 x 10 − 3 m 
   

Sping 2003 Truss Elements 59

Stress Computation
0.25 x 10 − 3 m 
 
210 x 10 6  1 3 1 3  0.0 m 
σ= − −   −3 
2  2 2 2 2  0.50 x 10 m 
0.75 x 10 − 3 m 
 
σ = 81.32 x 10 3 kN / mm 2
σ = 81.32 MPa

Sping 2003 Truss Elements 60

3-Bar Truss Example
2 3

1 2
10 ft

45o

1 45o 3 4

10 ft

Sping 2003 Truss Elements 61

 Data for 3-Bar Truss
Example

E = 30 x 106 psi for all members

Element Node i Node j L (ft) A (in2) θ C S C2 S2 CS

1 1 2 10.00 2 90 0 1 0 1 0
2 1 3 10.00 2 45 0.7071 0.7071 0.5 0.5 0.5
3 1 4 14.14 2 0 1 0 1 0 0

Sping 2003 Truss Elements 62

 0 0 0 0
0 1 
[ ]
6 0 − 1
(1) ( 30 x 10 ) ( 2) 
k =
(10) (12) 0 0 0 0
 
0 − 1 0 1

Sping 2003 Truss Elements 63

  0.5 0.5 − 0.5 − 0.5
 0.5 
[ ]
6 0.5 − 0.5 − 0.5
( 2) ( 30 x 10 ) ( 2) 
=
k
( )
( 10) 2 ( 12) − 0.5 − 0.5 0.5 0.5 
 
 − 0.5 − 0.5 0.5 0.5 

Sping 2003 Truss Elements 64

 1 0 − 1 0
0 
[ ]
6 0 0 0
( 3) ( 30 x 10 ) ( 2) 
k =
(10) (12)  − 1 0 1 0
 
0 0 0 0

Sping 2003 Truss Elements 65

 k (1) (1)
k 12 (1)
k 13 (1)
k 14 0 0 0 0
 11 
k (21
1)
k (22
1)
k (23
1)
k (24
1)
0 0 0 0
 (1) 
k 31 k (32
1)
k (33
1)
k (34
1)
0 0 0 0
 (1) (1) (1) (1) 
[ K ] = k 41 k 42 k 43 k 44 0 0 0 0 + 
 0 0 0 0 0 0 0 0
 
 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0
 
 0 0 0 0 0 0 0 0

Sping 2003 Truss Elements 66

 k ( 2 ) ( 2)
k 12 ( 2)
0 0 k 13 ( 2)
k 14 0 0
 11 
k (21
2)
k (22
2)
0 0 k (23
2)
k (24
2)
0 0
 
 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0
  ( 2)  +
k 31 k (32
2)
0 0 k (33
2)
k (34
2)
0 0
 ( 2) ( 2) ( 2) ( 2) 
k 41 k 42 0 0 k 43 k 44 0 0
 0 0 0 0 0 0 0 0
 
 0 0 0 0 0 0 0 0

Sping 2003 Truss Elements 67

 k ( 3 ) ( 3)
k 12 0 0 0 0 ( 3)
k 13 ( 3) 
k 14
 11 
k (21
3) ( 3)
k 22 0 0 0 0 ( 3)
k 23 ( 3) 
k 24
 
 0 0 0 0 0 0 0 0 
 0 0 0 0 0 0 0 0 
 
 0 0 0 0 0 0 0 0 
 0 0 0 0 0 0 0 0 
 ( 3) ( 3) 
k 31 k (32
3)
0 0 0 0 k (33
3)
k 34 
 ( 3) ( 3) 
k 41 k (42
3)
0 0 0 0 k (43
3)
k 44 

Sping 2003 Truss Elements 68

  1.354 0.354 0 0 − 0.354 − 0.354 − 1 0
 0.354 1.354 0 − 1 − 0.354 − 0.354 0 0

 0 0 0 0 0 0 0 0
 
0 −1 0 1 0 0 0 0
[ K ] = (500000) 

− 0.354 − 0.354 0 0 0.354 0.354 0 0
 
 − 0.354 − 0.354 0 0 0.354 0.354 0 0
 −1 0 0 0 0 0 1 0
 
 0 0 0 0 0 0 0 0

Sping 2003 Truss Elements 69

Point to Ponder
Why are rows and columns 3 & 8
equal to zero?
x-displacement at node 2 is 3rd d-o-f
and y-displacement at node 4 is 8th
d-o-f.
These displacements must be zero
because of geometry (not B.C.)

Sping 2003 Truss Elements 70

Assembling the Global
Stiffness Matrix - [K]

If there are 2 degrees of freedom and element ei

connects nodes i & j then the Global [K] matrix is
assembled as follows:

Sping 2003 Truss Elements 71

 Position in local [k] adds to Position in Global [K]

Upper Left Quadrant:

row m 2i-1 if m=1
2i if m=2
column n 2i-1 if n=1
2i if n=2

Upper Right Quadrant:

row m 2i-1 if m=1
2i if m=2
column n 2j-1 if n=3
2j if n=4

Sping 2003 Truss Elements 72

Position in local [k] adds to Position in Global [K]

Lower Left Quadrant:

row m 2j-1 if m=3
2j if m=4
column n 2i-1 if n=1
2i if n=2

Lower Right Quadrant:

row m 2j-1 if m=3
2j if m=4
column n 2j-1 if n=3
2j if n=4

Sping 2003 Truss Elements 73

 Position in local [k] adds to Position in Global [K]
row m column n row column
1 1 2i-1 2i-1
1 2 2i-1 2i
1 3 2i-1 2j-1
1 4 2i-1 2j
2 1 2i 2i-1
2 2 2i 2i
2 3 2i 2j-1
2 4 2i 2j
3 1 2j-1 2i-1
3 2 2j-1 2i
3 3 2j-1 2j-1
3 4 2j-1 2j
4 1 2j 2i-1
4 2 2j 2i
4 3 2j 2j-1
4 4 2j 2j

Sping 2003 Truss Elements 74

 Suppose i=1 and j= 3
Position in local [k] adds to Position in Global [K]
row m column n row column
1 1 1 1
1 2 1 2
1 3 1 5
1 4 1 6
2 1 2 1
2 2 2 2
2 3 2 5
2 4 2 6
3 1 5 1
3 2 5 2
3 3 5 5
3 4 5 6
4 1 6 1
4 2 6 2
4 3 6 5
4 4 6 6
Sping 2003 Truss Elements 75
k ( 2 ) ( 2)
k 12 0 0 ( 2)
k 13 ( 2)
k 14 0 0
 11 
k (21
2) ( 2)
k 22 0 0 ( 2)
k 23 ( 2)
k 24 0 0
 
 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0
 ( 2) ( 2) ( 2) ( 2) 
k 31 k 32 0 0 k 33 k 34 0 0
 ( 2) ( 2) ( 2) ( 2) 
k
 41 k 42 0 0 k 43 k 44 0 0
 0 0 0 0 0 0 0 0
 
 0 0 0 0 0 0 0 0

Sping 2003 Truss Elements 76

If there are 3 d-o-f per node (3D truss):
Position in local [k] adds to Position in Global [K]
Upper Left Quadrant:
row m 3i-2 if m=1
3i-1 if m =2
3i if m =3
column n 3i-2 if n=1
3i-1 if n =2
3i if n =3
Upper Right Quadrant:
row m 3i-2 if m=4
3i-1 if m =5
3i if m =6
column n 3j-2 if n=1
3j-1 if n =2
3j if n =3
Sping 2003 Truss Elements 77
If there are 3 d-o-f per node (3D truss):
Position in local [k] adds to Position in Global [K]
Lower Left Quadrant:
row m 3j-2 if m=4
3j-1 if m =5
3j if m =6
column n 3i-2 if n=1
3i-1 if n =2
3i if n =3
Lower Left Quadrant:
row m 3j-2 if m=4
3j-1 if m =5
3j if m =6
column n 3j-2 if n=4
3j-1 if n =5
3j if n =6
Sping 2003 Truss Elements 78
 Position in local [k] adds to Position in Global [K]
row m column n row column
1 1 3i-2 3i-2
1 2 3i-2 3i-1
1 3 3i-2 3i
1 4 3i-2 3j-2
1 5 3i-2 3j-1
1 6 3i-2 3j
2 1 3i-1 3i-2
2 2 3i-1 3i-1
2 3 3i-1 3i
2 4 3i-1 3j-2
2 5 3i-1 3j-1
2 6 3i-1 3j
3 1 3i 3i-2
3 2 3i 3i-1
3 3 3i 3i
3 4 3i 3j-2
3 5 3i 3j-1
3 6 3i 3j
Sping 2003 Truss Elements 79
 Position in local [k] adds to Position in Global [K]
row m column n row column
4 1 3j-2 3i-2
4 2 3j-2 3i-1
4 3 3j-2 3i
4 4 3j-2 3j-2
4 5 3j-2 3j-1
4 6 3j-2 3j
5 1 3j-1 3i-2
5 2 3j-1 3i-1
5 3 3j-1 3i
5 4 3j-1 3j-2
5 5 3j-1 3j-1
5 6 3j-1 3j
6 1 3j 3i-2
6 2 3j 3i-1
6 3 3j 3i
6 4 3j 3j-2
6 5 3j 3j-1
6 6 3j 3j
Sping 2003 Truss Elements 80
  1.354 0.354 0 0 − 0.354 − 0.354 − 1 0
 0.354 1.354 0 − 1 − 0.354 − 0.354 0 0

 0 0 0 0 0 0 0 0
 
0 −1 0 1 0 0 0 0
[ K ] = (500000) 

− 0.354 − 0.354 0 0 0.354 0.354 0 0
 
 − 0.354 − 0.354 0 0 0.354 0.354 0 0
 −1 0 0 0 0 0 1 0
 
 0 0 0 0 0 0 0 0

Sping 2003 Truss Elements 81

  0   d 1x 
− 10000 d 
   1y 
 F2x   0 
   
 F2y   0 
{ F} =   { d} =  
F
 3x   0 
 F3y   0 
   
 F4x   0 
 F4y   0 
   

Sping 2003 Truss Elements 82

 0  1.354 0.354 d 1x 
  = (500000)    
− 10000 0.354 1.354  d 1y 

d 1x   0.414 x 10 − 2 in 
 = − 2 
d
 1y  − 1.59 x 10 in 

Sping 2003 Truss Elements 83

  0.414 x 10 − 2 
6  − 2 
σ (1) =
30 x 10
[ 0 − 1 0 1] − 1.59 x 10 
120  0 
 0 
 
 0.414 x 10 − 2 
6  − 
30 x 10 − 2 − 2 2 
2 − 1.59 x 10  2
σ ( 2) =   
120  2 2 2 2  0 
 0 
 
 0.414 x 10 − 2 
6  − 2 
( 3)
σ =
30 x 10
[ − 1 0 1 0] − 1.59 x 10 
120  0 
 0 
 
Sping 2003 Truss Elements 84
 (1)
σ = 3965 psi
( 2)
σ = 1471 psi
( 3)
σ = −1035 psi

Sping 2003 Truss Elements 85

3D Truss Problems
Need 3D transformations
3D trusses are called space trusses

Sping 2003 Truss Elements 86

 y
^
x
^
y 2

z
^
z

Sping 2003 Truss Elements 87

 dˆ x ˆi + dˆ y ˆj + dˆ z kˆ = d x i + d y j + d z k

(dˆ ˆi + dˆ ˆj + dˆ kˆ ) • ˆi = ( d i + d j + d k ) • ˆi
x y z x y z

dˆ x + 0 + 0 = d x i • ˆi + d y j • ˆi + d z k • ˆi

ˆ x 2 − x1
i•i = = Cx = cos θx
L
ˆ y 2 − y1
j• i = = C y = cos θy
L
ˆ z 2 − z1
k•i = = Cz = cos θz
L
L = ( x 2 − x1 ) 2 + ( y 2 − y1 ) 2 + ( z 2 − z1 ) 2
Sping 2003 Truss Elements 88
  d 1x 
d 
 1y 
 d̂ 1x  C x Cy Cz 0 0 0   d 1z 
 =   
d̂
 2x   0 0 0 Cx Cy C z  d 2 x 
d 2y 
 
d 2z 

[ ]
*C x
T =
Cy Cz 0 0 0 

 0 0 0 Cx Cy Cz 

Sping 2003 Truss Elements 89

 [ k ] = [T* ]T [kˆ ] [T* ]

C x Cy Cz 0 0 0
[ ]
T* =  
 0 0 0 Cx Cy Cz 

Cx 0
 
C y 0
 
Cz 0  AE  1 − 1 Cx Cy Cz 0 0 0
[k] =     
0 Cx  L  − 1 1   0 0 0 Cx Cy Cz 
 
0 Cy 
 
 0 Cz 
Sping 2003 Truss Elements 90
 C 2 CxCy C xC z − C 2x − CxCy − C xC z 
 x 
 C 2y CyCz − CxCy − C 2y − CyCz 
 2 
AE  C 2z − CxCz − Cy Cz − Cz 
[k ] =
L  C 2x C xC y CxCz 


 symmetric C 2y Cy Cz 
 
 symmetric C 2z 

Sping 2003 Truss Elements 91

Inclined or Skewed
Supports
y’
F2x x’
y 2 3 α

B.C. at node 3 fixes y’ displacement x

Sping 2003 Truss Elements 92
 d ′3x   cos α sin α  d 3x 
 ′ =   
d 3 y   − sin α cos α  d
 3y 

{ d′3 } = [ t 3 ]{ d 3 }

 cos α sin α 
[t 3 ] =  
 − sin α cos α 

Sping 2003 Truss Elements 93

 { d′} = [ T1 ]{ d}
{ d} = [ T1 ] { d′}
T

[I ] 0 0 

[ T1 ] =  0 [I] 0  
 0 0 [T1 ]
Sping 2003 Truss Elements 94
 { f ′} = [ T1 ] { f }
{ f } = [K ] {d}
[ T1 ] { f } = [ T1 ] [ K ] {d}
[ T1 ] { f } = [ T1 ] [ K ] [ T1 ] { d′}
T

Sping 2003 Truss Elements 95

  F1x   d 1x 
F  d 
 1y   1y 
F2x  d 2x 
 = [ T1 ] [ K ] [ T1 ]
T
  
F
 2y  d
 2y 
F3′ x  d ′3x 
   
F3′ y  d ′3y 

Sping 2003 Truss Elements 96

Potential Energy Approach
πp = U + Ω
dU = σx ( ∆x )( ∆y )( ∆z ) dεx
dU = σx dεx dV


εx


U = ∫∫∫  ∫ σx dεx dV
V 0 

1
U = ∫∫∫ σx εx dV
2 V
Sping 2003 Truss Elements 97
 πp = U + Ω
M
ˆ uˆ dV − Tˆ u dS − ∑ fˆ dˆ
Ω = − ∫∫∫ X
V
b ∫∫ x S
ix
i =1
ix

Sping 2003 Truss Elements 98

 L
A
πp = ∫ σx εx dxˆ − fˆ1x dˆ 1x − fˆ2 x dˆ 2 x
2 0
− ∫∫ uˆ Tˆ x dS − ∫∫∫ uˆ X
ˆ b dv
S V

Sping 2003 Truss Elements 99

 uˆ = [ N] {dˆ }
 xˆ xˆ 
[ N] = 1 − 
 L L
 dˆ 1x 
{}dˆ =  
dˆ 2 x 
Sping 2003 Truss Elements 100
  1
{ εx } = − 1 ˆ
 d{}
 L L
{}
{ εx } = [ B] dˆ
 1 1
[ B] = − 
 L L
Sping 2003 Truss Elements 101
 { σx } = [ D]{ εx }

[ D] = [ E]

{ σx } = [ D] [ B]{ dˆ }
Sping 2003 Truss Elements 102
 L
A
π p = ∫ σ x ε x dx̂ − f̂1x d̂ 1x − f̂ 2x d̂ 2x
2
0
− ∫∫û T̂x dS − ∫∫∫û X̂ b dv
S V

Sping 2003 Truss Elements 103

 {}
L
A
πp = ∫ { σx } { εx } dxˆ − dˆ { P} −
T T

2 0

∫∫ }
{ ˆ
u T
{ }
Tx dS − ∫∫∫ { uˆ } X b dv
ˆ T ˆ
{ }
S V

Sping 2003 Truss Elements 104

 {} {} {}
L
A ˆT T T
π p = ∫ d [ B] [ D] [ B] dˆ dxˆ − dˆ { P} −
T

2 0

∫∫ { } [
dˆ N ] {T
} T
Tˆ x dS − ∫∫∫ dˆ { } [ N] {Xˆ }dv
T T
b
S V

Sping 2003 Truss Elements 105

πp =
AL
2
{ }
d̂ [ B ] [ D] [ B ] d̂ − d̂ f̂
T T T T
{} { }{}

{ f̂ } = {P} + ∫∫[ N] { T̂x } dS + ∫∫∫[ N] {X̂b } dv

T T

S V

Sping 2003 Truss Elements 106

 { f̂s } = ∫∫[ N] { T̂x } dS
T

S
{ f̂b } = ∫∫∫[ N] {X̂b } dv
T

Sping 2003 Truss Elements 107

 { U } = dˆ
*
{ } [ B] T T
[ D] [ B] { dˆ }
T

 1
−  dˆ 1x 
{ U } = [dˆ
*
1x dˆ 2 x ]  L  1
 1 [ E] −
1  
  
   L L   dˆ 
 2x 
 L 
E ˆ2
(
U = 2 d1x − 2dˆ 1x dˆ 2 x + dˆ 22 x
*

L
)

{ dˆ } { fˆ} = dˆ
T
ˆ + dˆ fˆ
f
1x 1x 2x 2x

Sping 2003 Truss Elements 108

 ∂πp AL  E ˆ
∂dˆ 1x
= 
2 L2
2 d(
1x − 2 ˆ
d 2x )  ˆ
− f
 1x

∂πp AL  E ˆ
∂dˆ 2 x
= 
2 L2
2 d(2x − 2 ˆ
d 1x )  ˆ
− f
 2 x

Sping 2003 Truss Elements 109

∂π p AE  1 − 1 d̂ 1x  f̂1x  0
=    −  =  
∂{d̂} L  − 1 1  d̂ 2x  f̂ 2x  0

[ k ] = ∫ [ B] [ D] [ B] dV
T

V
[ D] T
= [ D]

Sping 2003 Truss Elements 110