BAR & TRUSS FINITE ELEMENT

Direct Stiffness Method

FINITE ELEMENT ANALYSIS AND

APPLICATIONS

INTRODUCTION TO FINITE ELEMENT METHOD

• What is the finite element method (FEM)?
– A technique for obtaining approximate solutions of differential
equations.
– Partition of the domain into a set of simple shapes (element)
– Approximate the solution using piecewise polynomials within the
element
F   xx  xy
 x  y  bx  0


  xy   yy  b  0
Structure
 x y
y

Piecewise-Linear Approximation
u
Element

x
2

1
 INTRODUCTION TO FEM cont.
• How to discretize the domain?
– Using simple shapes (element)

– All elements are connected using “nodes”.

5 6 7 8 Nodes
1 2 3 Elements

1 2 3 4

– Solution at Element 1 is described using the values at Nodes 1, 2, 6,

and 5 (Interpolation).
– Elements 1 and 2 share the solution at Nodes 2 and 6.

INTRODUCTION TO FEM cont.

• Methods
– Direct method: Easy to understand, limited to 1D problems
– Variational method
– Weighted residual method

• Objectives
– Determine displacements, forces, and supporting reactions
– Will consider only static problem

2
 1-D SYSTEM OF SPRINGS
F2
F4
1 2
2 6
3
4 5
1 5
3
4 F3

• Bodies move only in horizontal direction

• External forces, F2, F3, and F4, are applied
• No need to discretize the system (it is already discretized!)
• Rigid body (including walls) NODE
• Spring ELEMENT

SPRING ELEMENT
• Element e
– Consist of Nodes i and j
ui , fi(e ) e
u j , fj(e )
– Spring constant k(e)
i j
– Force applied to the nodes: fi  e  , f j e 
– Displacement ui and uj
– Elongation:  ( e )  u j  ui


– Force in the spring: P e   k  e   e   k  e  u j  ui 
e
 P
e
– Relation b/w spring force and nodal forces: f j
– Equilibrium: fi  e   f j e   0 or fi     f j
e e

3
 SPRING ELEMENT cont.
• Spring Element e
– Relation between nodal forces and displacements
fi    k 
e
u  u 
e
i j
 k e
 e
k     ui   fi ( e ) 
e

     (e) 
f    k    u  u   k k    u j   f j 
e e e
j i j

 ui   f ( e ) 
k ( e )      i ( e ) 
u j   f j 
[k ( e ) ]q ( e )   f ( e ) 
– Matrix notation:

k q  f
– k: stiffness matrix
– q: vector of DOFs
– f: vector of element forces

SPRING ELEMENT cont.

• Stiffness matrix
– It is square as it relates to the same number of forces as the
displacements.
– It is symmetric.
– It is singular, i.e., determinant is equal to zero and it cannot be
inverted.
 k  e k  e 
– It is positive semi-definite   e
 k k   
e
• Observation
– For given nodal displacements, nodal forces can be calculated by

[k ( e ) ]q( e )   f ( e ) 

– For given nodal forces, nodal displacements cannot be determined

uniquely

4
 SYSTEM OF SPRINGS
F
cont.
2
F4
2
• Element equation
1
2 6
3
and assembly 1
4 5
5
3
4 F3

 k1 k1 0 0 0   u1   f1(1) 
 
 k k1 0 0 0  u2   f 2(1) 
 k1 k1   u1   f1(1)   1     
 0 0  u3    0 
     (1) 
0 0 0
 k  
 1 k1  u2   f 2   0 0 0 0 0  u4   0 
   
 0 0 0 0 0  u5   0 

 k1 k1 0 0 0   u1   f1(1) 
 
 k k  k 0  k2 0  u2   f 2(1)  f 2(2) 
 k2 k2  u2   f 2(2)   1 1 2     
 k     0 0  u3   
k2  u4   f 4(2) 
0 0 0 0 
 2    
 0  k2 0 k2 0  u4 f 4(2) 
   
 0 0 0 0 0  u5   0 
9

SYSTEM OF SPRINGS cont.

 k1 k1 0 0 0   u1   f1(1) 
 
 k3 k3  u2   f 2(3) 
 k k  k  k  k3  k2 0  u2   f 2(1)  f 2(2)  f 2(3) 
 1 1 2 3     
 k   
 3 k3  u3   f3(3)   0  k3 k3 0 0  u3    f3(3) 
 
 0  k2 0 k2 0  u4   f 4( 2) 
   
 0 0 0 0 0  u5   0 

 k1  k4 k1  k4 0 0   u1   f1(1)  f1(4) 

 
 k4 k4  u1   f1(4) 
 k k1  k2  k3  k3 k2 0  u2   f 2(1)  f 2(2)  f 2(3) 
 1     
 k   
k4  u3   f3(4)    k4  k3 k3  k 4 0  u3    f3  f3 
(3) (4)
0
 4  
 0  k2 0 k2 0  u4   f4(2) 
   
 0 0 0 0 0  u5   0 
 k5 k5  u3   f3(5) 
 k   
 5 k5  u4   f 4(5) 

 k1  k4 k1  k4 0 0   u1   f1(1)  f1(4) 

 
 k k1  k2  k3  k3  k2 0  u2   f 2(1)  f 2(2)  f 2(3) 
 1     
  k4  k3 k3  k 4  k5  k5 0  u3    f 3(3)  f3(4)  f3(5) 
 
 0  k2  k5 k 2  k5 0  u4   f 4(2)  f 4(5) 
   
 0 0 0 0 0  u5   0  10

5
 SYSTEM OF SPRINGS cont.
 k6 k6  u4   f 4(6) 
 k   
 6 k6  u5   f5(6) 
 k1  k4 k1  k4 0 0   u1   f1(1)  f1(4) 
 k  
k1  k2  k3  k3  k2 0  u2   f 2(1)  f 2(2)  f 2(3) 
 1     
  k4  k3 k 3  k5  k 4  k5 0  u3    f3(3)  f3(4)  f3(5) 
 
 0  k2  k5 k 2  k5  k 6 k6  u4   f 4(2 )  f 4(5)  f 4(6) 
   
 0 0 0  k6  k6  u5   f5(6) 

F2
F4
1 2
2 6
3
4 5
1 5
3
4 F3

11

SYSTEM OF SPRINGS cont.

F2
F4
• Relation b/w element 1 2
2
forces and external force 3
6
4 5
1
• Force equilibrium 5
3
ie F3
Fi   fi e 4
0
e 1
ie f3(3) f3(5)
Fi   f i , i  1,...ND
e
e 1
3
f3(4) F3
• At each node, the summation of
element forces is equal to  f1(1)  f1(4)   R1 
the applied, external force  (3)   
 f 2  f 2  f 2   F2 
(1) (2)

 f3  f3  f3    F3 
(3) (4) (5)

 f (2)  f (5)  f (6)   F 

 4 4 4
  4
 f5(6)   R5 
12

6
 SYSTEM OF SPRINGS cont.
• Assembled System of Matrix Equation:
 k1  k4 k1  k4 0 0   u1   R1 
 k k1  k2  k3  k3  k2 0  u2   F2 
 1     
  k4  k3 k3  k5  k 4  k5 0  u3    F3 
 
 0  k2  k5 k 2  k5  k 6 k6  u4   F4 
   
 0 0 0  k6  k6  u5   R5 
[K s ]{Qs }  {Fs }
• [Ks] is square, symmetric, singular and positive semi-definite.
• When displacement is known, force is unknown
u1  u5  0 R1 and R5 are unknown reaction forces

13

SYSTEM OF SPRINGS cont.

• Imposing Boundary Conditions
– Ignore the equations for which the RHS forces are unknown and strike
out the corresponding rows in [Ks].
– Eliminate the columns in [Ks] that multiply into zero values of
displacements of the boundary nodes.

 k1  k4 k1  k4 0 0   u1   R1 
 k k1  k2  k3  k3  k2 0  u2   F2 
 1     
  k4  k3 k3  k5  k 4  k5 0  u3    F3 
 
 0  k2  k5 k 2  k5  k 6 k6  u4   F4 
   
 0 0 0  k6  k6  u5   R5 

14

7
 SYSTEM OF SPRINGS cont.
• Global Matrix Equation
 k1  k2  k3  k3 k2  u2   F2 
 k k3  k4  k5  k5  u    F 
 3  3  3
 k2  k5 k2  k5  k6  u4   F4 
[K ]{Q}  {F}

• Global Stiffness Matrix [K]

– square, symmetric and positive definite and hence non-singular
• Solution
{Q}  [K ]1{F}
• Once nodal displacements are obtained, spring forces can be
calculated from
P   k      k 
e e e e
u j  ui 
15

UNIAXIAL BAR
• For general uniaxial bar, we need to divide the bar into a set
of elements and nodes
• Elements are connected by sharing a node
• Forces are applied at the nodes (distributed load must be
converted to the equivalent nodal forces)
• Assemble all elements in the same way with the system of
springs
p(x)
• Solve the matrix equation F x
for nodal displacements
• Calculate stress and strain Statically indeterminate
using nodal displacements p(x)
F

Statically determinate

16

8
 1D BAR ELEMENT
L A
• Two-force member
• Only constant f1 f2
cross-section
• Element force is x
proportional to
relative displ fi(e ) Node i K=EA/L
Node j f j(e )
• First node: i ui uj
second code: j
• Force-displacement relation
(e)
 AE 
fi ( e )    (ui  u j )
 L  Similar to the spring element
(e)
 AE 
f j( e )   fi ( e )   (u j  ui )
 L 
17

1D BAR ELEMENT cont.

fi(e ) Node i K=EA/L
Node j f j(e )
– Matrix notation
ui uj
 fi ( e )   AE ( e )  1 1  ui 
 (e)       
 f j   L   1 1  u j  {f ( e ) }  [k ( e ) ]{q( e ) }
– Either force or displacement (not both) must be given at each node.
– Example: ui = 0 and fj = 100 N.
– What happens when fi and fj are given?
• Nodal equilibrium
– Equilibrium of forces acting on Node I

Fi  fi ( e )  fi ( e1)  0 fi ( e )  fi ( e1)  Fi

– In general Fi
ie
fi(e)
Fi   fi ( e ) Element e
fi(e+1)
Element e+1
e 1
Node i 18

9
 1D BAR ELEMENT cont.
• Assembly
– Similar process as spring elements
– Replace all internal nodal forces with External Applied Nodal Force
– Obtain system of equations
[Ks]: Structural stiffness matrix
[K s ]{Q s }  {Fs } {Qs} Vector of nodal DOFs
{Fs}: Vector of applied forces
• Property of [Ks]
– Square, symmetric, positive semi-definite, singular, non-negative
diagonal terms
• Applying boundary conditions
– Remove rigid-body motion be fixing DOFs
– Striking-the-nodes and striking-the-columns (Refer to sprint elements)
[K]: Global stiffness matrix
[K ]{Q}  {F} {Q} Vector of unknown nodal DOFs
{F}: Vector of known applied forces
19

1D BAR ELEMENT cont.

• Applying boundary conditions cont.
– [K] is square, symmetric, positive definite, non-singular, invertible, and
positive diagonal terms
– Can obtain unique {Q}
• Element forces
– After solving nodal displacements, the element force can be calculated


  Pi    AE   1 1  ui 
(e)
 AE 
(e) (e)

P(e)     u j  ui   f j(e)  (e)       

 L   Pj 
   L   1 1  u j 
(e)
– Element stress   P Note Pi = Pj
(e)
• Reaction Forces A
– Use [Ks]{Qs} = {Fs}: the rows that have been deleted (strike-the-rows)
– Or, use
ie
Fi   fi ( e )
e 1

20

10
 EXAMPLE
• 3 elements and 4 nodes
K2
• At node 2:
F1 K1 Element 2
F2  f 2(1)  f 2(2)  f 2(3) Element 1 K3
Element 3
x
• Equation for each element:
 f1(1)   K1 K1  u1 
 (1)      K2
 f 2    K1 K1  u2  Element 2 N3 F3
N1 K1 u3
F1 N2
 f 2(2)   K 2  K 2  u2  u2
 (2)     
K 2  u3 
Element 1 N4 F4
 f3    K 2 u1 Element 3
K3 u4
 f 2(3)   K3  K3  u2 
 (3)     
 f 4    K3 K3  u4 

21

EXAMPLE cont.
• How can we combine different element equations? (Assembly)
– First, prepare global matrix equation:

0  0 0 0 0 0 
0  0 0 0 0 0  Displacement vector
    
 
0  0 0 0 0  0 
Stiffness matrix
0  0 
0 0 0  0 
Applied force vector

– Write the equation of element 1 in the corresponding location

 f1(1)   K1  K1 0 0   u1 
 (1)  
 f 2    K1 K1 0 0  u2 
   
 0   0 0 0 0  u3 
 0   0 
0 0 0  u4 
22

11
 EXAMPLE cont.
– Write the equation of element 2:
 0  0 0 0 0   u1 
 f (2)  0 K
 2   K2 0  u2 
 (2)  
2  
f
 3   0  K 2 K2 0  u3 
 0  0 0 0

0  u4 
– Combine two equations of elements 1 and 2
 f1(1)   K1  K1 0 0   u1 
 (1) (2)  
 f 2  f 2    K1 K1  K 2 K2 0  u2 
   
 f3
(2)
  0 K2 K2 0  u3 
 0   0 0 0

0  u4 

23

EXAMPLE cont.
– Write the equation of element 3
 0  0 0 0 0   u1 
 f (3)  0 K 0  K 3  u2 
 2    

3

 0   0 0 0 0  u3 
 f 4(3)  0  K 3 
0 K 3  u4 
– Combine with other two elements
 F1   f1(1)   K1  K1 0 0   u1 
 F   (1)  
 K 3  u2 
 2   f2  f    K1 ( K1  K 2  K 3 )  K 2
(2) (3)
f  
  
2 2

 F3   f3
(2)
  0 K2 K2 0  u3 
 F4   
  0 
f4
(3)
 K3 0 K 3  u4 

Structural Stiffness Matrix

24

12
 EXAMPLE cont.
• Substitute boundary conditions and solve for the unknown
displacements.
– Let K1 = 50 N/cm, K2 = 30 N/cm, K3 = 70 N/cm and f1 = 40 N.

 F1   50 50 0 0   u1 
 F   50 (50  30  70) 30 70  u 
 2    2 
 
 F3   0 30 30 0  u3 
 F4   0 70 0

70  u4 

– Knowns: F1, F2, u3, and u4

– Unknowns: F3, F4, u1, and u2
40   50 50 0 0   u1 
 0   50 (50  30  70) 30 70  u 
     2 
 
 F3   0 30 30 0  0 

 F4   0 
70 0 70   0 
25

EXAMPLE cont.
– Remove zero-displacement columns: u3 and u4.

40   50 50 
 0   50 150   u1 
    
 
 F3   0 30  u2 
 F4   0 
70 
– Remove unknown force rows: F3 and F4.

40   50 50   u1 
   
 0   50 150  u2 
– Now, the matrix should not be singular. u1  1.2 cm
Solve for u1 and u2.
u2  0.4 cm

– Using u1 and u2, Solve for F3 and F4. F3  0u1  30u2  12 N
F4  0u1  70u2  28 N

26

13
 EXAMPLE cont.
• Recover element data Element
force
 f1(1)   K1  K1   u1   50 50  1.2   40 
 (1)            
 f 2    K1 K1  u2   50 50  0.4  40
 f 2(2)   K 2  K 2  u2   30 30  0.4  12 
 (2)        
 f3    K 2 K 2  u3   30 30  0.0 12

 f 2(3)   K3  K3  u2   70 70 0.4  28 

 (3)        
 f 4    K3 K3  u4   70 70  0.0 28

K2 -12 N

F1 = 40 N K1
0.4 cm
-28 N
1.2 cm
K3

27

EXAMPLE
• Statically indeterminate bars A B C
• E = 100 GPa
RL F RR
• F = 10,000 N
• A1 = 10−4 m2, A2 = 2×10−4 m2 0.25 m 0.4 m
• Element stiffness matrices:
1011 104  1 1  4 4  u1
[k (1) ]     107  
0.25  1 1   4 4  u2
1011  2 104  1 1 7  5 5 u2
[k (2) ]   1 1   10  5 5  u
0.4     3
• Assembly
 4 4 0   u1   F1 
   
10  4 9 5 u2   10,000 
7
 
 0 5 5  u3   F3 
28

14
 EXAMPLE cont.
• Applying BC
107 9u2   10,000  u2  1.11104 m

• Element forces or Element stresses

P
AE
L
u j  ui 
P (1)  4  107  u 2  u1   4, 444 N
P (2)  5  107  u3  u2   5,556 N

• Reaction forces

RL   P (1)  4, 444 N ,

RR   P (2)  5,556 N

29

PLANE TRUSS ELEMENT

• What is the difference between 1D and 2D finite elements?
– 2D element can move x- and y-direction (2 DOFs per node).
– However, the stiffness can be applied only axial direction.
• Local Coordinate System 50 N
– 1D FE formulation can be used
if a body-fixed local coordinate system
is constructed along the length of 8 cm
the element
Y
– The global coordinate system
(X and Y axes) is chosen to 12 cm
represent the entire structure X
– The local coordinate system (x and y axes)
is selected to align the x-axis along the length
of the element
 f1x  EA  1 1  u1 
    
 f 2 x  L  1 1  u2 
30

15
 PLANE TRUSS ELEMENT cont.
• Element Equation (Local Coordinate System)
– Axial direction is the local x-axis.
– 2D element equation y
Local coordinates
v2 u2 f2x
 f1x  1 0 1 0   u1 
f  
 1 y  EA  0 0 0 0   v1  y x
    v1 2
u1 f
 f 2 x  L  1 0 1 0  u2 
 f 2 y   
0 0 0 0   v2  1 Global coordinates
f1x
{f }  [k ]{q} x

– [k ] is square, symmetric, positive semi-definite, and non-negative

diagonal components.
• How to connect to the neighboring elements?
– Cannot connect to other elements because LCS is different
– Use coordinate transformation
31

COORDINATE TRANSFORMATION
• Transform to the global coord. and assemble

u1   cos f sin f  u1  v

   
cos f   v1 
v
 v1    sin f u
f
u2   cos f sin f  u2 
    f
 v2    sin f cos f   v2  u

• Transformation matrix
u1   cos f sin f 0 0  u1 
    
v1    sin f cos f 0 0   v1  {q}  [T]{q}
   
u2   0 0 cos f sin f  u2 

v2   0 
0  sin f cos f   v2 
Transformation matrix
local global
32

16
 COORDINATE TRANSFORMATION cont.
• The same transformation for force vector
 f1x   cos f sin f 0 0   f1x 
f    
 1 y    sin f cos f 0 0   f1 y 
    {f }  [T]{f }
 f2 x   0 0 cos f sin f   f 2 x 
   f 
 f2 y 
  0 0  sin f cos f  
 2y 
local global

• Property of transformation matrix

[T]1  [T]T {f }  [T]{f } {f }  [T]T {f }

33

ELEMENT STIFFNESS IN GLOBAL COORD.

• Element 1
y
v2
 f1x  1 0 1 0 u1  u2 f2x
f    
 1 y  EA  0 0 0 0 v1 
     v1
N2
L  1 0 u1 K
 f2 x  0 1 u2  f
 f 2 y    v2 
0 0 0 0
f1x
N1
element stiffness matrix
x
{f }  [k ]{q}
• Transform to the global coordinates
[T]{f }  [k ][T]{q} {f }  [T]1[k ][T] {q}
global global

[k ]  [T]1[k ][T] {f }  [k ]{q}

34

17
 ELEMENT STIFFNESS IN GLOBAL COORD. cont.
• Element stiffness matrix in global coordinates
[k ]  T [k ]T
T

 cos 2 f cos f sin f  cos 2 f  cos f sin f 

 
EA  cos f sin f sin 2 f  cos f sin f  sin 2 f 
[k] 
L   cos 2 f  cos f sin f cos 2 f cos f sin f 
 
  cos f sin f  sin 2 f cos f sin f sin 2 f 

– Depends on Young’s modulus (E), cross-sectional area (A), length (L),

and angle of rotation (f)
– Axial rigidity = EA
– Square, symmetric, positive semi-definite, singular, and non-negative
diagonal terms

35

EXAMPLE N2
50 N

• Two-bar truss
– Diameter = 0.25 cm Element 1

– E = 30106 N/cm2 8 cm

Element 2
• Element 1 N1 N3
– In local coordinate
12 cm
{f (1) }  [k (1) ]{q(1) }

 f1x  1 0 1 0  u1  y
f    
0 0 0  v1 
v2 u2 f2x
 1 y  EA  0  
  
 f 2 x  L  1 0 1 0  u2  v1
u1 K N2
 f 2 y    f1 f = 33.7o
0 0 0 0  v2  1
E = 30 x 106 N/cm2
N1
f1x A = pr2 = 0.049 cm2
L = 14.4 cm x
36

18
 EXAMPLE cont.
• Element 1 cont.
– Element equation in the global coordinates
f (1)
1x
  0.692 0.462 0.692 0.462  u1 
   0.462  
f
(1)
 0.308 0.462 0.308   v1  (1)

1y
  102150     {f }  [k ]{q }
(1) (1)

f
(1)
2x   0.692 0.462 0.692 0.462  u2 
f   

(1)
2y   0.462 0.308 0.462 0.308   v2 
y f2x

• Element 2 N2 v2
f2 = –90o f2
 f 2(2)
x
 0 0 0 0  u2  E = 30 x 106 N/cm2 u2
 (2)  0 1   A = pr2 = 0.049 cm2 K
 f2 y  0 1  v2 
 (2)   184125    L = 8 cm
 f3 x  0 0 0 0  u3 
x
 f3 y    N3

(2)
 0 1 0 1  v3  v3
f3x
u3 37

EXAMPLE cont.
• Assembly
– After transforming to the global coordinates Element 1

 F1x   70687 47193 70687 47193 0 0  u1 

F    v 
 1 y   47193 31462 47193 31462 0 0
 1 
 F2 x   70687 47193 70687 47193 0 0  u2 
   
 F2 y   47193 31462 47193 215587 0 184125 v2 
 F3 x   0 0 0 0 0 0  u3 
    
 F3 y   0 0 0 184125 0 184125  v3 
Element 2
• Boundary Conditions
– Nodes 1 and 3 are fixed.
– Node 2 has known applied forces: F2x = 50 N, F2y = 0 N

38

19
 EXAMPLE cont.
• Boundary conditions (striking-the-columns)
 F1x   70687 47193 70687 47193 0 0  0 
F    
 1 y   47193 31462 47193 31462 0 0  0 
 50   70687 47193 70687 47193 0 0  u2 
   
 0   47193 31462 47193 215587 0 184125 v2 
 F3 x   0 0 0 0 0 0  0 
    
 F3 y   0 0 0 184125 0 184125  0 

– Striking-the-rows
50  70687 47193  u2 
   
 0   47193 215587   v2 
• Solve the global matrix equation
u2  8.28 104 cm
v2  1.81104 cm
39

EXAMPLE cont.
• Support reactions
 F1x   70687 47193   50 
F     
 1 y   47193 31462   8.28 10  33.39 
4

    N
 F3 x   0 0  1.81104   0 
 F3 y   0 
184125  33.39 
– The reaction force is parallel to the element length (two-force member)
• Element force and stress (Element 1)
– Need to transform to the element local coordinates
 u1   .832 .555 0 0  0   0 
 v   .555 .832     
 1  0 0 0 

0 
       
u2   0 0 .832 .555 u2   5.89 104 
 v2   0 0

.555 .832   v2  6.11104 

40

20
 EXAMPLE cont.
• Element force and stress (Element 1) cont.
– Element force can only be calculated using local element equation

 f1x  1 0 1 0   0  60.2 
f       0 
 1 y  EA  0 0 0 0 

0   
    N
 f 2 x  L  1 0 1 0   5.89 104   60.2 
 f 2 y   
0 0 0 0  6.11104   0 

– There is no force components in the local y-direction

– In x-direction, two forces are equal and opposite
– The force in the second node is equal to the element force
– Normal stress = 60.2 / 0.049 = 1228 N/cm 2.

–60.2 N 60.2 N
1 2
41

OTHER WAY OF ELEMENT FORCE CALCULATION

• Element force for plane truss
(e) (e)
 AE   AE 
P (e)

 L 
  
(e)

 L 
 u j  ui 

– Write in terms of global displacements

(e)
 AE 
P(e)  
 L 
 lu j  mv j    lu i  mvi  
l  cos f
(e)
m  sin f
 AE 

 L 
 l u j  ui   m  v j  vi  

42

21
 EXAMPLE
2
• Directly assembling global matrix equation
2 F
(applying BC in the element level)
45
• Element property & direction cosine table
Elem AE/L i -> j f l = cosf m = sinf 3 1
1
1 206×105 1 -> 3 -30 0.866 0.5
4 3
2 206×105 1 -> 2 90 0 1
3 206×105 1 -> 4 210 0.866 0.5

• Since u3 and v3 will be deleted after assembly, it is not

necessary to keep them
u1 v1 u3 v3
 l 2
lm l lm  u1
2 u1 v1
 
lm m 2  v1
(1)
  
2
 EA   l lm  u1
(1)
EA lm m 2
 k (1)      k (1)   
 L   l
2
lm l2 lm  u3   2
 L  lm m  v1
 
 lm m
2
lm m 2  v3

43

SPACE TRUSS ELEMENT

• A similar extension using coordinate transformation

Y v2 u
• 3DOF per node 2 f2x
– u, v, and w w2
N2
– fx, fy, and fz v1 u fY K
1 fX
w1 fZ
• Element stiffness N1
matrix is 6x6 f1x
X

Z
• FE equation in the local coord.

 fix  AE  1 1  ui 
     {f }  [k ]{q}
 f jx  L  1 1  u j 
44

22
 SPACE TRUSS ELEMENT cont.
• Relation between local and global displacements
– Each node has 3 DOFs (ui, vi, wi)
 ui 
v 
 i
 ui   l m n 0 0 0   wi  {q}  [T]  {q}
    (2  1) (2  6) (6  1)
u j  0 0 0 l m n   u j 
vj 
 
w j 
– Direction cosines

x j  xi y j  yi z j  zi
l  cos fx  , m  cos f y  , n  cos fz 
L L L

x  xi    y j  yi    z j  zi 
2 2 2
L j

45

SPACE TRUSS ELEMENT cont.

• Relation between local and global force vectors
 fix   l 0 
f   
 iy   m 0 
 fiz   n 0   fix 
    {f }  [T]T {f }
 f jx   0 l   f jx 
 f jy   0 m 
   
 f jz   0 n 
• Stiffness matrix
{f }  [k ]{q} [T]T {f }  [T]T [k ][T]{q} {f }  [k ]{q}

l 2 lm ln l 2 lm ln  ui
 
 m2 mn lm m 2 mn  vi
EA  n 2 ln mn n 2  wi
[k]    [k ]  [T]T [k ][T]
L  l2 lm ln  u j
 sym m 2
mn  v j
 
 n2  w j
46

23
 THERMAL STRESSES
• Temperature change causes thermal strain
L L L

No stress, no strain No stress, thermal strain

Thermal stress, no strain

(a) at T = Tref (b) at T = Tref + T

• Constraints cause thermal stresses

• Thermo-elastic stress-strain relationship
 = E   T  
= + T
E
Thermal expansion coefficient
47

THERMAL STRESSES cont.

• Force-displacement relation
 L  L
P = AE   T   AE  AET
 L  L
• Finite element equation 1 ui
Thermal force vector  
{f ( e ) }  [k ( e ) ]{q( e ) }  {fT( e) }  0  vi
{fT }  AET   (e)

1 u j
• For plane truss, transform to the global coord.  0  v j

{f }  [k ]{q}  {fT }  l  ui
m  v
  i
{fT }  AET  
[k ]{q}  {f }  {fT }  l  u j
 m  v j

[K s ]{Qs }  {Fs }  {FTs }

48

24