Module 4: Analysis of Frame Structures

Lecture 1: Stiffness of Truss Members 1

4.1.1 Introduction
Analysis of frame structures can be carried out by the approach of stiffness method.
However, such types of structures can also be analyzed by finite element method. A unified
formulation will be demonstrated based on finite element concept in this module for the
analysis of frame like structures. A truss structure is composed of slender members pin
jointed together at their end points. Truss element can resist only axial forces (tension or
compression) and can deform only in its axial direction. Therefore, in case of a planar truss,
each node has components of displacements parallel to X and Y axis. Planar trusses lie in a
single plane and are used to support roofs and bridges. Such members will not be able to
carry transverse load or bending moment. The major benefits of use of truss structures are:
lightweight, reconstructable, reconfigurable and mobile. Configuration of few standard truss
structures are shown in Fig. 4.1.1.

Fig. 4.1.1 Configuration of various truss structures

4.1.2 Element Stiffness of a Truss Member

Since, the truss is an axial force resisting member, the displacement along its axis only will
be developed due to axial load. Therefore, using Pascal’s triangle, the displacement function
of truss member for development of shape function can be expressed as:

 
u  x    0  1 x  1 x   0 
1  (4.1.1)
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Fig. 4.1.2 Axial force on the member along X axis

Applying boundary conditions as shown in Fig. 4.1.2:

At x= 0, u(0)= u 1 and at x=L, u(L) = u 2
u 2  u1
Thus,  0  u1 and  1  Therefore,
L .
 x
u  x   1  u1 u2  N u
x
(4.1.2)
 L L
Here, N is the shape function of the element and is expressed as:

N   1  x x  (4.1.3)
 L L
So we get the element stiffness matrix as

 k     B   D  B  d 
T
(4.1.4)


d N   1 1
Where, B   
dx  L L 
So, the stiffness matrix will become:
 1
   1 1 AE  1  1
  B  EB Adx  AE   L 
L L
dx 
T
0 0

1  L


L L  1 1 
 L 

Thus, the stiffness matrix of the truss member along its member axis will be:

1  1
k   AE 
L  1 1 
(4.1.5)
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4.1.3 Element Stiffness of Truss Member with Varying Cross Section

Now, let us find the stiffness matrix of a pin-jointed member of length L with respect to local
axis, having cross sectional areas A1 and A2 at the two ends of the member as shown in the
figure below.

Fig. 4.1.3 Member with varying cross section

From the above figure, the cross sectional area at a distance of x from left end can be
expressed as:
A  A1
Ax  A1  2 x (4.1.6)
L
As it is a pin-jointed member, the displacement at any point may be expressed in terms of
nodal displacement as u  N1u1  N 2u2 .
Similarly the cross sectional area at any point may be represented in terms of the cross
sectional area of the two ends. Thus Ax  N1 A1  N 2 A2

x x
Where the shape functions are: N1  1  ; N2 
L L
Now, the strain may be written as:

u N1 N 2 1 1  u1 
x  u 2   u1  u 2 = 1  1  
 u1  1   B u (4.1.7)
x x x L L L u 2 

As the stress is proportional to strain according to Hook’s law, the stress-strain relationship
will be as follows:
 u1 
 
 x  E x   1 1   E B u
E
(4.1.8)
L u 2 

Now the strain energy may be expressed as

L L
 x T  x dv    x T E x Ax dx   uT B T E B uAx dx
1 1 1
U 
2V 20 20
(4.1.9)

Applying Castigliano’s theorem, the force will become:

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T u1 
 
L

F   U   B T E B uAx dx  2
L

  1 1  1 1Ax dx   k d 

E
u 0 L 0 u 2 

(4.1.10)

Thus, the stiffness matrix will be:

1  1 L 1  1 
  A1  A2  A1 x dx  E  A2  A1 2 
L

k   E 
  1 A x  x
L2   1 1 0 L  L2   1 1   2L 
0


E  1  1  A2  A1   1  1
   A  
E
 A  A  1 1 
L  1 1   2  2 L
1 1 2
  (4.1.11)

4.1.4 Generalized Stiffness Matrix of a Plane Truss Member

Let us consider a member making an angle ‘’ with X axis as shown in the figure below. By
resolving the forces along local X and Y direction, the following relations are obtained.

Fx1  Fx1 cos   Fy1 sin 

Fx 2  Fx 2 cos   Fy 2 sin 
(4.1.12)
Fy1   Fx1 sin   Fy1 cos 
Fy 2   Fx 2 sin   Fy 2 cos 

Where, Fx1 and Fx 2 are the axial forces along the member axis X . Similarly, Fy1 and F y 2 are
the forces perpendicular to the member axis X .

Fig. 4.1.4 Inclined truss member

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The relationship expressed in eq. (4.1.12) can be rewritten in matrix form as follows:

 Fx1   cos  sin 0 0   Fx1 

    
 Fy1    sin cos  0 0   Fy1 
    (4.1.13)
 Fx 2   0 0 cos  sin   Fx 2 
    sin

cos    Fy 2 
 Fy 2   0 0

Now, the above equation can be expressed in short as:

F   T F  (4.1.14)

Here, [T] is called transformation matrix. This relates between the global ( , axis) and
member axis ( , axis). Similarly, the relations of nodal displacements between two
coordinate systems may be written as:

d   T d  (4.1.15)

Again, the equation stated in (4.1.5) can be generalized and expressed with respect to the
member axis including force and displacement vector as:

 Fx1  1 0 1 0   u1 
  
 Fy1  AE  0 0 0 0   v1 
     (4.1.16)
 Fx 2  L  1 0 1 0  u2 
 Fy 2   
  0 0 0 0   v2 

Where, the nodal forces in Y direction are zero. The above equation may also be expressed in
short as:

F   k d  (4.1.17)

Where, the matrices in the above equation are written with respect to the member axis. Now,
eq. (4.1.17) can be rewritten with the use of eq. (4.1.14) and (4.1.15) as given below.

T F  k T d (4.1.18)

Or,
F  T 1 k T d (4.1.19)
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Here, the transformation matrix [T] is orthogonal, i.e., [T]-1 is equal to [T]T. Therefore, from
the above relationship, the generalized stiffness matrix can be expressed as:
k   T T k T  (4.1.20)

Thus,

 cos   sin  0 0  1 0 1 0   cos  sin  0 0 

 sin  cos  0 0   0 0 0    sin  cos  0 
 k    0  AE  0 0
0 cos   sin   L  1 0 1 0  0 0 cos  sin  
    
 0 0 sin  cos   0 0 0 0  0 0  sin  cos  

(4.1.21)
Or,

 cos 2  sin  cos  cos 2   sin  cos 

 
 sin  cos sin 2   sin  cos  sin 2  
k   AE   (4.1.22)
L   cos 2   sin  cos cos 
2
sin  cos 
 
 sin  cos  sin 2  sin  cos sin 2  


The above stiffness matrix can be used for the analysis of two-dimensional truss problems.