FINETE ELEMENT METHOD IN

ENGINEERING DESIGN
ΜΜΥ416
3. Trusses (Δικτυώματα)

1
 Plane Trusses (2D δικτυώματα): Combination of linear axial
elements (Συνδυασμός γραμμικών αξονικών στοιχείων)
Finite elements in 2 dimensions
A 2D element is displaced in x- and y- directions (μετατόπιση στην x-
και y-κατεύθυνση (2 DoF).

• Local coordinate system (Τοπικό

σύστημα συντεταγμένων) 50 N
– 1D FEM can be used if a local
coordinate system is developed
based on the orientation of the 8 cm
element.
Y
– The absolute (απόλυτο) coordinate
system (X andY) is chosen for the 12 cm
X
representation of the Truss.
– The local coordinate system (τοπικό)
(x and y) is chosen so that the axis x
of the system coincides with the axis
(length) of the element.
2
 Plane Trusses: Coordinate systems
• Element equations in the local system
– The axis direction is the local x-axis.
– 1D element equation: y
Local system
 f1x  EA  1 1  u1  v2 u 2 f2x
   1 1  u  (3.1)
 2x 
f L   2 y x
v1 2
u1 f
• 2D Equations of the element at
1
the local coordinate system f1x
Absolut system

x
 f1x  1 0 1 0   u1 
f  
 1y  EA  0 0 0 0   v1 
    (3.2)
f2x  L  1 0 1 0   u2  Note: - Vector
f2y   
  0 0 0 0   v 2  - Matrix

Forces f1𝑦 and f2𝑦 are zero in the local coordinate system for the
elements of a truss (δικτυώματος). s17 s19 3
 Plane Trusses: Coordinate systems

• In the equation above, f = Κ u , the stiffness matrix is

rectangular, symmetric, and the elements in the diagonal are
greater than zero.
50 N
• The equation f = Κ u
is valid for the specific
element and can not be 8 cm
used for a different one
Y
which have different
orientation. X
12 cm

• In order to develop a system of equations which could be

applied on all elements of a system, a transformation
(μετασχηματισμός) of the relationships between
forces/displacements in terms of the absolute coordinate
system is needed. 4
 Plane Trusses: Transformation (Μετασχηματισμός)
• Transformation of the node displacements (Μετασχηματισμός) and vector
transformation.

 u1   cos f sin f  u1  v

v
   v  u
 1 
v  sin f cos f   1
(3.3) f
u2   cos f sin f  u2  f
   v  u
 2 
v  sin f cos f  2

• Displacement transformation equation:

u1   cos f sin f 0 0  u1 

    
 1 
v  sin f cos f 0 0  v1  u = Τ u (3.4)
     
u2   0 0 cos f sin f  u 2 
 v 2   0 0

 sin f cos f  v 2  Transformation
local global Matrix.
Local Absolute
s21 s16 5
 Plane Trusses: Transformation

• Force transformation equation:

 f1x   cos f sin f 0 0   f1x 
f    f 
 1y    sin f cos f 0 0  1y 
      (3.5)
f  0 0 cos f sin f  { f }  [T]{f }
 2x  f2x 
f2y   0 0  sin f cos f
 
 f2y 
 
local global
Local Absolute
• Properties of the transformation matrix
[T]1  [T]T { f }  [T]{f } {f }  [T]T { f }

• The equations u = Τ u and { f }  [T]{f } can be used in f =

Κ u for the development of the element equation and
consequently for the assembly of the equations of the
system.
6
 Plane Trusses: Transformation

• Element 1
y
v2
 f1x  1 0 1 0  u1  u2 f2x
f    
 1y  EA  0 0 0 0  v1 
     v1
2
K
f2x  L  1 0 1 0 u2 
u1
f
f2y     v 2 
  0 0 0 0
1
element stiffness matrix f1x
x
f = k u

• Transformation in the absolute coordinate system:

Τ f = k Τ u f = Τ 𝑻 k Τ u (3.6)

k = Τ 𝑻 k Τ f = k u

7
 Plane Trusses: Transformation

• Element Stiffness matrix in the absolute coordinate system.

[k]  T  [k ] T 
T

𝑐 −𝑠 0 0 1 0 −1 0 𝑐 𝑠 0 0
𝑠 𝑐 0 0 𝐸𝐴 0 0 0 0 −𝑠 𝑐 0 0
=
0 0 𝑐 −𝑠 𝐿 −1 0 1 0 0 0 𝑐 𝑠
0 0 𝑠 𝑐 0 0 0 0 0 0 −𝑠 𝑐
𝑻 Τ
Τ k

c=cos (συνημίτονο),
• 4x4 matrices, 4 DoF of the
s=sin (ημίτονο)
system

8
 Plane Trusses: Transformation

• Element Stifness matrix in the absolute coordinate system

[k]  T  [k ] T 
T

 cos2 f cos f sin f  cos2 f  cos f sin f 

 
EA  cos f sin f sin2 f  cos f sin f  sin2 f 
[ k]  (3.7)
L   cos2 f  cos f sin f cos2 f cos f sin f 
 
  cos f sin f  sin 2
f cos f sin f sin 2
f 

– [k] depends on Young modulus (E), cross sectional area (εμβαδόν

διατομής) (A), length (μήκος) (L), and angle of orientation (γωνία) (f)
– Axial stiffness (Αξονική ακαμψία) = EA
• Matrix properties (Ιδιότητες): Rectangular, symmetric, positive semi-
definite, (ημι-θετικά ορισμένο), singular (ιδιάζων), and diagonal terms
above zero (διαγώνια στοιχεία μεγαλύτερα του μηδενός).
(positive semi-definite: {T]T [k] {T} ≥ 0)

s22 9
 Plane Trusses: Example 1
2
• 2 element truss (Δικτύωμα δυο στοιχείων) 50 N

– Diameter= 0.25 cm
– E = 30106 N/cm2 Element 1
8 cm
Element 2
• Element 11
– Local coord. syst.
1 3
– (Τοπικό σύστημα)
12 cm
f1 = k1 u1

 f1x  1 0 1 0  u1  y
f  0  
0 0 0   v1 
v2 u2 f2x
 1y EA   
 
f2x  L  1 0 1 0  u2  v1
f2y    u1 K 2
  0 0 0 0   v 2  f1 f = 33.7o
1
E = 30 x 106 Ncm-2
1
f1x A = pr2 = 0.049 cm2
L = 14.4 cm x
10
 Plane Trusses: Example 1

• Element 1 cont.
f = Τ 𝚻 k1 Τ u
– Element equations in the absolute system

f1x(1)   0.692 0.462 0.692 0.462  u1 

 (1)   0.462 0.308 0.462 0.308   
f1y     v1  f𝟏 = k𝟏 u𝟏
 (1)   102150  
f
 2x   0.692 0.462 0.692 0.462   u2 
f2y
(1)    
   0.462 0.308 0.462 0.308  v 2 
y f2x

• Element 2 N2 v2
- Local system f2 = –90o f2
E = 30 x 106 Ncm-2 u2
A = pr2 = 0.049 cm2 K
f2x
1 0 −1 0 u2 L = 8 cm
f2y 𝐸𝐴 0 0 0 0 v2
= N3 x
f3x 𝐿 −1 0 1 0 u3
0 0 0 0 v3 v3
f3y f3x
u3 11
 Plane Trusses: Example 1

• Element 2.
– Equations of the element at the absolute system

f = Τ 𝚻 k2 Τ u

f𝟐 = k𝟐 u𝟐
 cos2 f cos f sin f  cos2 f  cos f sin f 
 
EA  cos f sin f sin2 f  cos f sin f  sin2 f 
[ k] 
L   cos2 f  cos f sin f cos2 f cos f sin f 
 
  cos f sin f  sin f cos f sin f sin f 
2 2

(note.: ΕΑ/L is different than this of element 1)

f2x
(2)
 0 0 0 0  u 2 
 (2)  0 1  
f2y  0 1 v 2 
 (2)   184125   
f3x  0 0 0 0  u3 
f3y
(2)   
  0 1 0 1 v 3 

12
 Plane Trusses: Example 1

• Assembly of equations (Συναρμολόγηση μητρώων)

– After the assembly in absolute coordinates the matrices are extended
to the DoF of the system and their sum is calculated.
Στοιχείο 1

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

F    v 
 1y   47193 31462 47193 31462 0 0
 1
F2x   70687 47193 70687 47193 0 0  u2 
     (3.8)
F2y   47193 31462 47193 215587 0 184125  v 2 
F   0 0 0 0 0 0  u3 
  
3x
 
F3y   0 0 0 184125 0 184125  v 3 

Στοιχείο 2
• Boundary conditions (Συνοριακές συνθήκες)
– Nodes1 and 3 are firmly supported: u1, v1, u3 and v3 = 0.
– At node 2 forces are applied: F2x = 50 N, F2y = 0 N
13
 Plane Trusses: Example 1

• Application of the boundary conditions.

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

F    
 1y   47193 31462 47193 31462 0 0  0 
 50   70687 47193 70687 47193 0 0  u 
   2 (3.9)
 0   47193 31462 47193 215587 0 184125  v 2 
F3x   0 0 0 0 0 0  0 
    
F3y   0 0 0 184125 0 184125  0 

• Elimination of equations:
50  70687 47193  u2 
   v 
  
0 47193 215587  2

• The solution of the system of equations.

u2  8.28  104 cm
v 2  1.81 104 cm 14
 Plane Trusses: Example 1

• Reaction forces at the supports (Δυνάμεις αντίδρασης στις

στηρίξεις) (absolute system- απόλυτο σύστημα):
Από την εξίσωση 3.9:

F1x   70687 47193   50 

F     
 1y   47193 31462   8.28  10  33.39 
4

   4 
 N (3.10)
F3x   0 0  1.81 10   0 
F3y   0 184125

  33.39 
 

– The reaction force at node 3 is vertical (κάθετη) and

towards the length direction of the element.
– At node 1 the reaction force is parallel to the axis of the
element.
15
 Plane Trusses: Example 1
Element forces and stresses (Δυνάμεις και τάσεις στοιχείων)
• Element 1: displacement transformations (μετασχηματισμός
μετατοπίσεων).
– For the calculation of the element forces and stresses, the
displacements in the local system need to be calculated. This is
achieved with the displacement transformation at the local coordinate
system using the equation 3.4 :
 u1   .832 .555 0 0  0   0 
 v   .555 .832 0   0   
 1  0
   
0 
  4 
u
 2  0 0 .832 .555  u
 2  5.89  10 

 v 2   0 
0 .555 .832  v 2  6.11 10 
4

Displacement of node 2 at note.: node 2 is common for

the local system: the two elements
u2 = 5.89−4 cm
v2 = −6.11−4 cm
16
 Plane Trusses: Example 1

• Forces and stresses of element 1.

– Nodal forces are calculated only at the local coord. system using eq.
3.2.
 f1x  1 0 1 0   0  60.2
f  
 1y  EA  0 0 0 0   0   0 
  
   
4   N
f2x  L  1 0 1 0   5.89  10   60.2 
f2y   
  0 0 0 0  6.11 10 4   0 
• The force components (συνιστώσες δυνάμεων) in the
local y direction is 0.
• At the local x direction the forces are equal and
opposite (δυνάμεις είναι ίσες και αντίθετες).
• The force at node 2 equal to the element force:
Pe=keΔe=102150(5.89 10-4)=60.2N
• Normal stress (ορθή τάση)
σ= 60.2 / 0.049 = 1228 Ncm-2.
17
 Plane Trusses: Example 1

• Forces and stresses of element 2.

– Element nodal displacements are calculated for the
local coord. System using equation 3.4 for φ=-90.

u2 v2
𝑐f2 𝑠f2 0 0 8.28 10−4
v2 −𝑠f2 𝑐f2 0 0 −1.81 10−4
=
u3 0 0 𝑐f2 𝑠f2 0 u2
0 0 −𝑠f2 𝑐f2 0 v2
v3 2
f2
−1.81 10−4 u2
−4 K
= 8.28 10
0
0 3 x
– Since the angle is -90ο the local displacements v3
coincide with those of the absolute coordinate
f3x
system. u3

18
 Plane Trusses: Example 1

• Forces and stresses of element 2.

– The element nodal force is calculated only in the local coord.
System using equation 3.2.

f2x
1 0 −1 0 −1.81 10−4 −33.3
f2 y 0 0 0 0 8.28 10−4 = 0
= 184125 Ν
f3x −1 0 1 0 0 33.3 -33.3 N
0 0 0 0 0 0
f3 y

2
– The components of the force in the local y direction is 0.
– At the local x direction the forces are equal and opposite.
– The force at node 2 is equal with the element force :
Pe=keΔe=184125(-1.81 10-4)=-33.3N (compression).

3
– Normal stress σ= -33.3 / 0.049 = -679.6 N/cm2.

33.3 N 19
 Plane Trusses: Development of the system equations and
solution.
• Basic stages
– Formulation of equations in the absolute system for each
  [k] T 
T
element using the stiffness matrix: [k ]  T
– Assembly of equations for the formulation of the system
equations.
– Solve for the displacements in the absolute coord. system
(u and v).
– Use of displacements u nd v in the absolute system for the
calculation of the displacements in the local coord. system
(u και v).
– Use of local displacements u και v for the calculation of the
forces at the nodes.
– Use of u and v displacements at the local system for the
calculation of the element forces.
20
Plane Trusses: Alternative method for the formulation of the
equations in the absolute system.
• Element force for plane elements:
(e) (e)
 AE   AE 
P(e) 
 L 

(e) 
 L 

u  u 
j i

– From equations 3.3 we have:

u𝑖 =cosφ ui + sinφ vi
v𝑖 =-sinφ ui + cosφ vi
u𝑗 =cosφ uj + sinφ vj
v𝑗 =-sinφ uj + cosφ vj
– Using the direction cosines, forces can be expressed at the absolute
coordinate system:
(e)

P(e)
 AE 

 L 
 lu  mv   lu mv 
j j i i
l  cos f
(3.11)
(e)
 AE 

 L 

l u  u   m  v  v  
j i j i
m  sin f
S26 21
Plane Trusses: Alternative method for the formulation of the
equations in the absolute system.
• Using equation 3.7 the stiffness matrix for each element can
be formulated based on the directional cosines (συνημίτονων
κατεύθυνσης):

ui vi uj vj
𝑙2 𝑙𝑚 −𝑙2 −𝑙𝑚 ui
𝐸𝐴 𝑙𝑚 𝑚2 −𝑙𝑚 −𝑚2 vi (3.12)
k𝒆 = 𝑒
uj
𝐿 −𝑙2 −𝑙𝑚 𝑙2 𝑙𝑚
−𝑙𝑚 −𝑚2 𝑙𝑚 𝑚2 vj

• The system stiffness matrix is assembled from the element

stiffness matrices.

22
Plane Trusses: Alternative method for the formulation of the
equations in the absolute system.
Example 2.
• 3 truss members, are connected through pins and rigidly
supported as it is shown in the figure. They have identical
properties and geometries: Ε=206GPa, A=10-4 m2 , L=1m.
F=20KN. Angle of member 1=-30ο, member 2=90ο, member
3=210ο.
2
• Elements properties, directional
cosines and connectivity: 2 F

Στοι 45
AE/L i -> j f l = cosf m = sinf
χείο
1 206×105 1 -> 3 -30 0.866 0.5 3
1 1
2 206×105 1 -> 2 90 0 1
4 3
3 206×105 1 -> 4 210 0.866 0.5

23
Plane Trusses: Alternative method for the formulation of the
equations in the absolute system.
Example 2.
• Element 1
- Since u2 , v2 , u3 , v3 , u4 , v4 =0 they are not taken into account
(application of boundary conditions at the element level).
u1 v1 u3 v3
 l2 lm l2 lm  u1 u1 v1
(1)  
 EA   lm m 2
lm m2  v1  EA   l
(1) 2
lm  u1
 k   
(1)
  k   
(1)
  2
 L   l lm lm  u3
2
l2  L  lm m  v1
 
 lm m
2
lm m2  v 3
u1 v1
0.750 −0.433 u1
k𝟏 = 206 105
−0.433 0.25 v1
• Element 2 and 3:
u1 v1 u1 v1
0 0 u1 0.750 0.433 u1
k𝟐 = 206 105 k𝟑 = 206 105
0 1 v1 0.433 0.25 v1
24
Plane Trusses: Alternative method for the formulation of the
equations in the absolute system.
Example 2.
• Assembly of the system stiffness equation at the absolute
coordinate system.
1.5 0
k = 206 105
0 1.5

• System equation at the absolute coordinate system:

1.5 0 u1
F = 206 105
0 1.5 v1

• The force F=20KN is analysed to its x and y components:

F1x=20KN cos(π/4)=14.142ΚΝ
F1y=20KN sin(π/4)=14.142ΚΝ
25
Plane Trusses: Alternative method for the formulation of the
equations in the absolute system.
Example 2.
14142 1.5 0 u1
= 206 105
14142 0 1.5 v1
• The solution is:
u1=0.458mm
v1=0.458mm
Element forces are calculated from equations 3.11, and based
on the properties, and directional cosines:
Pe=ke(l(uj-ui)+m(vj-vi))
P1=206 105(0.866(u3-u1)-0.5(v3-v1))=-3.450ΚΝ
P2=206 105((v2-v1))=-9.440ΚΝ
P3= 206 105(-0.866(u4-u1)-0.5(v4-v1)) =12.900ΚΝ

26
Plane Trusses: Alternative method for the formulation of the
equations in the absolute system.
Example 2.

• The stresses on the elements are calculated from the

elements forces Pe and the cross-sectional areas:

σ1 =-34.50ΜPa
σ2=-94.40MPa
σ3=129.00MPa

27
 Plane Trusses: Problem 3.1

For the 2D truss of the

figure calculate the
nodal displacements
and the normal stresses
that develop at the
members of the truss.

Ε=30 106 Ncm-2,

Diameter D=0.25cm.
Use the method of the
direct assembly of the
stiffness matrix
(alternative approach).

28
 Plane trusses: Problem 3.2

For the 2D truss of the

figure calculate the nodal
displacements and the
forces that develop at the
members of the truss.
Ε=1011 Nm-2, περιοχή
Α=10-4 m2, L=1m και
F=14142N.

Use the method of the

direct assembly of the
stiffness matrix (alternative
approach).

29
 Plane trusses: Problem 3.3

For the 2D truss of the figure calculate

the force F and the stresses at the
elements for u1=1.5 10-2 cm and v1=-0.5
10-2 cm. Calculate:
a) The transformation matrices for the
elements (μητρώα μετασχηματισμού
στοιχείων)
b) Element stiffness matrices at the
absolute coord. system
c) Assembly the system stiffness matrix
and apply boundary conditions
d) Solve the system of equations at the
absolute coord. system.
e) Calculate the stresses at the
elements

Ε=30 106 Ncm-2, Α=2 cm2, L=10cm. 30