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Global, or assembled,
displacement matrix
f1 y m1z
f 2 x " f Ny mNz }
Global, or assembled,
force matrix
F = KD
k11 k12
k
k22
K = 21
#
#
k
N1 kN 2
" k1N
" k2 N
% #
" k NN
N
b( s)
( s+ds)
p1(s)
n( s)
ds(1 + ( s) )
( s +ds )
b( s+ds ) p1
p 2(s+ds)
p 2(s)
n( s+ds )
q ( s+ds) , t( s+ds)
(h+ w)
s
Centerline of the flexible rod/cable
N + dN
F + dF
d2 x
f1 x
L = unstretched length.
k = spring stiffness (constant)
T = tension (compression)
The spring can only deform in the
x direction.
u = a1 + a2 x
d1x
d2 x
x 1
x 2
For the DSM, Logan shows that we only need to consider the
strain/displacement and stress/strain relationships.
Remember that we are trying to relate displacements to forces.
The way to do this is to;
For the spring element the only type of stretch we have is axial
stretch.
Step 3: (contd)
T = k
= (d2x - d1x )
T = k d2x - d1x
f1x = T
f2 x = T
f1x = T
f2 x = +T
Step 4: (contd)
f1x k k d1x
=
k
k
d 2 x
f 2 x
The element equations.
k k
k=
k k
Element (or local)
stiffness matrix.
D = d
e =1
(e)
F =f
(e)
e =1
K = k (e)
e =1
F = KD
3
3x
2x
Global x coordinate
Element 1 equations
Element 2 equations
f2 x (2) k2 k2 d2 x (2)
(2) =
(2)
f 3 x k2 k2 d3 x
f1x (1)
y
1
d1x (1)
f2 x (1)
d2 x (1)
f2 x(2)
3 f3x(2)
d2 x(2)
d3x(2)
x = L
(2) d3 x (2) d2 x (2)
(2)
u2 = d2 x +
x
x =0
d2 x (1) = d2 x (2)
(1)
2
An entirely intuitive
result that was
guaranteed in our
Step 2.
(1)
0 d1x f1x 0
k1 k1 0 d1x 0 0
(1) (2)
k k 0 d + 0 k
k2 d2 x = f2 x + f2 x
1
1
2x
2
0 0 d3 x
0 k2 k2 d3 x 0 f3 x (2)
0
At each node, the external forces applied must equal the sum of the forces
exerted on the spring nodes.
F1x = f1x (1)
F2 x = f2 x (1) + f2 x (2)
F = f (2)
3x
3x
k2 d3 x F3 x
k2
0
k2
k2 1 0
0
2x
3x
Problem 2.12:
Use a connectivity table to help
form the global stiffness matrix
in one step.
Another way of bookkeeping the
assembly process.
1
2
y
fix
fjx
d jx
dix
k
k
jj
d jx
f jx ji
kii = k jj = k1
kij = k ji = k1
Element #
Node i
Node j
k
k
+
k
+
k
k
3
1
3
2
2 d3 x
3x 1
F4 x 0
k2
0
k2 d 4 x
2. Positive Definite
3. Singular
1. Symmetric