Direct Stiffness Method for Structural Analysis

Chapter 4
Computer-Oriented Direct Stiffness

Method of Structural Analysis
Objectives
• To present the foundation concepts of the direct stiffness method
• To develop computer-oriented procedures towards evolving computational
algorithms for implementing the stiffness method in computer programs
The Direct-Stiffness Method
Introduction
• The fundamental ideas of the stiffness method, based on superposition of actions,
has been presented
• The development was further refined into the formalized stiffness method,
presenting a more organized approach to analysis
• However, the so-called formalized stiffness method is not convenient enough for
computational implementation through computer programing
• The direct stiffness method needs to be developed to achieve the ease of
computer implementation
• The direct stiffness method relies extensively on the ideas developed with slight
modifications and some computer-enabling additions
2
Introduction
• The key idea of the direct stiffness method is to simplify the assembly process
for the joint stiffness matrix SJ.
• This simplification is achieved by the use of member stiffness matrices for
actions and displacements at both ends of each member
• Additionally, member displacements are referenced to structural (global)
coordinates to further ease the assembly process
• Subsequently, the stiffness matrix and the equivalent load vector can be
assembled by direct addition instead of by matrix multiplication.
3
Assuming m members, the assembly of the joint stiffness matrix may be stated as
The symbol SMSi represents the i-th member stiffness matrix with end-actions and
displacements (for both ends) taken in the directions of structural axes
Similarly, an equivalent joint load vector AE can be constructed from member

contributions, as
The symbol AMSi represents a vector of fixed-end actions in the directions of the
structural axes at both ends of member i.
4
It is necessary to rearrange and partition the stiffness and load matrices in order to
separate terms pertaining to F from those for R. subsequently, the solution proceeds
as before. Thus, the basic solution for DF due to loads only becomes
where AFC is a vector of combined joint loads (actual and equiv.) corresponding to DF
Other items of interest consist of AR and AM. Due to the effects of loads only
For AM, all treatments are made w.r.t the member local coordinates system. Thus
5
The following is the general workflow adopted in the direct-stiffness approach
1. Identification of structural data
2. Construction of the stiffness matrix
3. Identification of the load data
4. Construction of load vector
5. Calculation of results (primary, then secondary)
6
Complete Member Stiffness Matrices
In general, the first step the construction of the stiffness matrix is to generate SMi
(member-oriented) for all members, transform them to the structure-oriented axes to
obtain SMSi, and then carry out the assembly process to obtain SJ.
However, in the case of beams, the
transformation is unnecessary since its
local and global axes systems are
parallel. In other words,
(SMSi)beam = (SMi)beam.
The complete stiffness matrix for a space
frame member is taken as the basis from
which the stiffness matrices for other Displacement indices for a space frame member
lower-order members are extracted.
7
Member Stiffnesses
8
Member Stiffnesses
(contd.)
9
Space frame member stiffness matrix
10
In general, the complete member stiffness matrix (member-oriented) has the form
Consider the continuous beam as shown, the treatment of joints and members are
depicted next to it, considering only y-translation and z-rotation of each end of
the member.
11
Subsequently, the stiffness matrix of the prismatic beam member, extracted from the
basis matrix, is
For continuous beam problems in which the supports do not allow joint translations,
only the rotations (indexes 2 and 4) are possible, so the stiffness matrix reduces to
12
Illustration Example
Consider the beam shown, having all members with the same flexural rigidity EI.
The analysis of the beam will be carried out using the direct stiffness method.
13
1. Formation of the stiffness matrix SJ
14
2. Formation of the load vector AC = AJ + AE
15
3. Rearrangement of SJ and AC
SJ with rows
rearranged
Revised displacement indexes.
Final SJ with
columns rearranged
, for free disp. index

, for constrained disp. index
Implementation of this algorithm to be shown later 16
4. Calculation of results: DF and AF
Solve for displacements
Solve support reactions
17
4. Calculation of results: AMi
18
DSM Analysis of Continuous Beams
Background
The analysis of continuous beams using the direct-stiffness method (DSM) is based
on the following general assumptions and information
1. Continuous beams are assumed to consist of rigidly-connected prismatic
members and supported at various points along their lengths
2. The joints are selected normally at points of support and at any free ends
3. A joint may be considered to exist at a point where a change in section occurs.
4. If a continuous beam has m members, then there are nj joints = m + 1
5. Displacements are due primarily to flexural deformations and axial
deformations are omitted
6. D.O.F, n = 2nj − nr = 2m + 2 − nr ; where nr = total number of restraints
19
Continuous Beam Member Stiffnesses
Consider a typical continuous beam showing the numbering system for joints and
members
The corresponding restrained structure showing the numbering system for all
possible displacements is
j1 = 2j − 1 = 2i − 1
j2 = 2j = 2i
k1 = 2k − 1 = 2i + 1
k2 = 2k = 2i + 2
A typical member i showing
associated displacement labels
20
Formation of the Over-all Joint Stiffness
With a focus on a typical member i and its neighbors, the joint stiffnesses can be
depicted as follows
Unit j2
Unit j1
Unit k2
Unit k1
21
obtained for Unit values of j1 and j2, as follows
Unit j2
Unit j1
22
obtained for Unit values of k1 and k2, as follows
Unit k2
Unit k1
23
For a 6-member continuous beam, the restrained structure indicating the indexing
scheme and a depiction of the ‘over-all’ joint stiffness matrix are shown
Note on the over-all joint stiffness matrix numbering schemes

The top and left numbering schemes are for the original
arbitrary joint numbers while the right and bottom numbering
schemes indicate the corresponding row and column of each
element after rearrangement, as shown next
24
For the 6-member continuous beam, assume the first
joint has a hinge support while the rest are supported
on rollers. For this case, the revised joint numbering
is shown along with a depiction of the corresponding
rearranged ‘over-all’ joint stiffness matrix.
25
Formation of load Matrix AML vector AC = AE + AJ
From the original applied load on the structure, AJ can
be obtained, and takes the form
The actions at the ends of member i with its ends fixed are denoted as follows:
Thus, for a continuous beam,

the matrix AML of fixed-end
actions will be of order 4m,
given by
26
Taking the contributions of AML from members connected at a given joint, AE can be
obtained as depicted above, and takes the form
Thus, the elements of AE are given by
27
Solutions of DF , AR and AM
As before, DF and AR be obtained as
;
After obtaining DF, vector DJ can now be obtained, generally in the form
Consequently, the vector AMi can be obtained for each member i as
28
Application Example
The continuous beam shown is to be analyzed as described in the preceding slides.
The beam is restrained against translation at support C and against both translation
and rotation at points A and D. At point B the flexural rigidity of the beam changes
from EI to 2EI. Therefore, point B is taken as a joint in the structure.
29
Member information
# of members, m = 3
# of joints nj = 4
# of support
restraints, nr = 5
⇒ # of D.O.F, n = 3
Displacement labels 30
Joint information
# of members, m = 3
# of joints nj = 4
# of support
restraints, nr = 5
⇒ # of D.O.F, n = 3
31
Member stiffnesses and the over-all joint stiffness
L3/EI  SM =
Raw
assembled SM
32
L3/EI  SM =
Rearranged SM
33
Load Vector AC = AJ + AE
Rearranging AC according to the revised displacement indexes,
which can be decomposed into the free and restrained components
34
Solutions of DF and AR
35
Solutions of AM
36
DSM Analysis of Plane Trusses
Plane Trusses Member Stiffnesses
Consider a typical plane truss showing the numbering system for joints and
members
A typical member i showing

associated displacement labels
37
Plane Trusses Member Stiffnesses
Unlike continuous beams, the member-oriented axes are not parallel to the
structural axes. Therefore, direction cosines are essential. Consider a member i
shown, its direction cosines are given by
where
The member-oriented stiffness is given by
38
Joint Stiffness for Truss members
The member-oriented stiffness matrix may be transformed to the structural axes
system through an axes rotation process. Alternatively, the structure-oriented
member stiffness may be formed directly, as follows
39
The member-oriented stiffness matrix may be transformed to the structural axes
system through an axes rotation process. Alternatively, the structure-oriented
member stiffness may be formed directly, as follows
40
Consider, for example, a unit displacement in the direction of index 1, the
associated stiffness coefficients are
Consequently, the structure-oriented stiffness is given by
41
Analysis of Plane Trusses
The analysis process of plane trusses proceeds in the same manner, beginning with
numbering of members and joints to forming the over-all stiffness matrix and final
solutions. The only addition here is the need for local-global transformation.
Numbering of
Members and Joints
Listing of Members and Joints for Trusses 42

depicted as follows
Unit j2
Unit j1
43
depicted as follows
Unit k2
Unit k1
44
The example below illustrate how each member contributes to the over-all JS matrix
45
From the original applied load on the structure, AJ can
be obtained, and takes the form
The actions at the ends of member i with its ends fixed are denoted as follows:
Thus, for a plane truss, the

matrix AML of fixed-end
actions will be of order 4m,
given by
46
Loads on a plane truss member 47

Taking the contributions of AML from members connected at a given joint, AE can be
obtained as depicted above, and takes the form
Thus, the elements of AE are given by
48
Solutions of DFC , AR and AM
As before, DFC and AR be obtained as
;
After obtaining DFC, vector DJ can now be obtained, generally in the form
Consequently, the vector AMi can be obtained for each member i as

where
49
Application Example
The plane truss shown is to be analyzed as described in the preceding slides.
The truss is restrained at points C

and D by hinge supports that
prevent translations in both the x
and y directions. The loads on the
truss consist of both joint loads and
member loads.
50
Joint information
# of members, m = 6
# of joints nj = 4
# of support
restraints, nr = 4
⇒ # of D.O.F, n = 4
51
Member information # of members, m = 6 ; # of joints nj = 4
# of support restraints, nr = 4
⇒ # of D.O.F, n = 4
52
53
54
Example:
55
Final solutions
56
Rotation of Axes in 2D
Structure-oriented to Member-oriented Axes
where
Thus, R is a rotation matrix

57
Member-oriented to Structure-oriented Axes
, or
Therefore, the rotation matrix R is an

orthogonal matrix
Further, by extension,
58
Application to Plane Truss Members: Construction of SMS
Member-oriented action equation
Rotation of axes for a plane

truss member
59
Let , then

truss member
Therefore, the rotation matrix RT is also an

orthogonal matrix, implying
60
Structure-oriented action equation

Therefore,

truss member
61
Application to Plane Truss Members: Construction of AMSi
Structure-oriented member end
actions contribution to AE

truss member
62
Application to Plane Truss Members: Construction of AMi
Final member-oriented
end actions

truss member
63
The same 2D concept can easily be extended to the 3D case as follows
where
Rotation of axes in 3D
64
DSM Analysis of Plane Frames
Plane Frame Member Stiffnesses
Consider a typical plane frame (a) showing the numbering system for joints and
members
A typical member i showing associated displacement

labels related to: (b) local axes, and (c) global axes
65
Joint Stiffness for Plane Frame Members
The member-oriented stiffness matrix, presented below, will later be transformed
to the structural axes system through the axes rotation process described earlier.
66
DSM Analysis of Plane Frame
Joint Stiffness for Frame members
The rotation and transformation matrices are given by
As before, the structure-oriented stiffness matrix is given by , or
67
Analysis of Plane Frames
The analysis process of plane frames proceeds as before, starting with numbering
of members and joints to forming the over-all stiffness matrix and final solutions.
The possible displacements at a joint j may
be designated as follows
End-displacements for
plane frame member
As before, the number of degrees of freedom n in a plane frame is calculated by
68
as follows:
Col 4 of SMS
Col 1
of
SMS
Col 5 of SMS
Col 2
of
SMS
Col 6 of SMS
Col 3
of
SMS
69
AJ can be obtained from applied joint loads, and takes the form
The actions at the ends of member i with

its ends fixed are denoted as follows: Thus, for a plane frame, the
matrix AML of fixed-end actions
will be of order 6m, given by
AML needs to be transformed to the structural axes, as

70
Loads on a plane frame member 71

;
After obtaining DFC, vector DJ can now be obtained, as before.

Consequently, the vector AMi can be obtained for each member i using
72
Application Example
The plane frame shown is to be analyzed as described in the preceding slides. For
this purpose, assume that the cross-sectional area Ax and the moment of inertia Iz are
constant throughout the structure. Assume also that the parameters in the problem
have the following numerical values:
73
Joint information
# of members, m = 2
# of joints nj = 3
# of support restraints, nr = 6
⇒ # of D.O.F, n = 3
74
Member information
75
76
77
78
Final solutions
79
DSM Analysis of Grids
Grid Member Stiffnesses
Consider a typical grid (a) showing the numbering system for joints and members
A typical member i showing associated displacement

labels related to: (b) local axes, and (c) global axes
80
Joint Stiffness for Grid Members
81
Joint Stiffness for Grid Members
As with a grid member, the rotation and transformation matrices are given by
As before, the structure-oriented stiffness matrix is given by , or
82
Analysis of Grids
The analysis process of grids proceeds as usual, starting with numbering of
members and joints to forming the over-all stiffness matrix and final solutions.
End-displacements for
grid member
As before, the number of degrees of freedom n in a plane frame is calculated by
83
as follows:
Col 4 of SMS
Col 1
of
SMS
Col 5 of SMS
Col 2
of
SMS
Col 6 of SMS
Col 3
of
SMS
84

its ends fixed are denoted as follows: Thus, for a plane frame, the
matrix AML of fixed-end actions

85
Formation of load Matrix AML and vector AC = AE + AJ
Loads on a grid member

86
;

Note:
Numerical examples will be given later during the discussions of algorithmic
implementation of the analysis protocol
87
DSM Analysis of Space Trusses
Space Truss Member Stiffnesses
Consider a part of a typical space truss (a) having a typical member i showing the
numbering system for joints and members
(b)
(c)
(a) A typical member i showing associated displacement

indexes related to: (b) local axes, and (c) global axes
88
Joint Stiffness for Space Truss Members
The rotation and transformation matrices are given by
, where
89
Joint Stiffness for Space Truss Members
Again,
Using the above, the structure-oriented stiffness matrix is given by
90
Selection of Local Axes for Space Truss Members
For a non-vertical space truss member
Rotation of axes for a space truss member

91
Selection of Local Axes for Space Truss Members
For a vertical space truss member
CY = +1 CY = −1
Rotation of axes for a vertical space truss member

92
Analysis of Space Trusses
The analysis process of space trusses proceeds as usual, starting with numbering
End-displacements for space truss member

As for plane frames and grids, the number of degrees of freedom n in a space
truss frame is calculated by 93

its ends fixed are denoted as follows: Thus, for a space truss, the matrix AML

94
For a non-vertical member,
For a vertical member,
Loads on a space truss member

95
;

Note:
96
DSM Analysis of Space Frames
Space Frame Member Stiffnesses
Consider a portion of a space frame (a) having a typical member i showing the
numbering system for joints and members.
(b) (c)
(a) A typical member i showing associated displacement
indexes related to: (b) local axes, and (c) global axes
97
Joint Stiffness for Space Frame Members
• The member-oriented stiffness matrix has been presented earlier, and it is
transformed to the structural axes system through the usual axes rotation process.
• However, in the case of space frames, the form of the rotation matrix R depends
on the particular orientation of the member axes
• A space frame member may be oriented so that the principal axes of the cross
section lie in horizontal and vertical planes (for example, an I-beam with its web
in a vertical plane). Under these conditions the yM and zM axes can be selected
exactly the same as for a space truss member.
• The same treatment may be given in instances where a space frame member has
two axes of symmetry in the cross section and the same moment of inertia about
each axis (for example, a circular or square member, either tubular or solid)
98
• Nevertheless, a space frame member may be a space frame member may have its
principal axes xM and yM in general directions.
• In this case, 2 of the possible treatments are
✓ directly specifying the orientation of the principal axes by means of an angle
of rotation α about the xM axis, or
✓ specifying the coordinates of a point p that lies in one of the principal planes
of the member but is not on the axis of the member itself, from which sine
and cosine of α can be obtained
99
Rotation of axes for a space

frame member Rotation about xM axis
100
For the first alternative, the rotation and transformation matrices are given by
Using the above, the structure-oriented stiffness matrix for a non-vertical member
can be obtained, as usual by
101
For the second alternative, the sine and cosine of α can be obtained by
, where
Using the above relations, the rotation matrix, structure-oriented stiffness matrix for a
non-vertical member can be obtained, as for the first alternative.
102
Selection of Local Axes for a Vertical Space Frame Member
For the special cases where the space frame member is vertical, the rotation matrix
is given by
where
CY = −1
CY = +1
Rotation of axes for a vertical space frame member
103
Analysis of Space Frames
The analysis process of space frames proceeds as usual, starting with numbering
End-displacements for space frame member
Here, n is given by
104
Thus, for a space frame, the matrix

AML will be of order 12m, given by
As before, 105
Loads on a space frame member

106
The rest of the analysis procedure remains as before. Thus,
;


107

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Chapter 4

Computer-Oriented Direct Stiffness

Similarly, an equivalent joint load vector AE can be constructed from member

Revised displacement indexes.

, for free disp. index

Solve for displacements

Solve support reactions

Note on the over-all joint stiffness matrix numbering schemes

Thus, for a continuous beam,

Thus, the elements of AE are given by

Consequently, the vector AMi can be obtained for each member i as

Rearranging AC according to the revised displacement indexes,

which can be decomposed into the free and restrained components

A typical member i showing

Consequently, the structure-oriented stiffness is given by

Listing of Members and Joints for Trusses 42

Thus, for a plane truss, the

Loads on a plane truss member 47

Thus, the elements of AE are given by

Consequently, the vector AMi can be obtained for each member i as

The truss is restrained at points C

Thus, R is a rotation matrix

Therefore, the rotation matrix R is an

Rotation of axes for a plane

Rotation of axes for a plane

Therefore, the rotation matrix RT is also an

Structure-oriented action equation

Rotation of axes for a plane

Rotation of axes for a plane

Rotation of axes for a plane

A typical member i showing associated displacement

As before, the structure-oriented stiffness matrix is given by , or

As before, the number of degrees of freedom n in a plane frame is calculated by

The actions at the ends of member i with

AML needs to be transformed to the structural axes, as

Loads on a plane frame member 71

After obtaining DFC, vector DJ can now be obtained, as before.

A typical member i showing associated displacement

As before, the structure-oriented stiffness matrix is given by , or

As before, the number of degrees of freedom n in a plane frame is calculated by

The actions at the ends of member i with

AML needs to be transformed to the structural axes, as

Loads on a grid member

After obtaining DFC, vector DJ can now be obtained, as before.

(a) A typical member i showing associated displacement

The rotation and transformation matrices are given by

Using the above, the structure-oriented stiffness matrix is given by

For a non-vertical space truss member

Rotation of axes for a space truss member

For a vertical space truss member

Rotation of axes for a vertical space truss member

End-displacements for space truss member

The actions at the ends of member i with

AML needs to be transformed to the structural axes, as

For a vertical member,

Loads on a space truss member

After obtaining DFC, vector DJ can now be obtained, as before.

Rotation of axes for a space

Rotation of axes for a vertical space frame member

End-displacements for space frame member

Thus, for a space frame, the matrix

Loads on a space frame member

After obtaining DFC, vector DJ can now be obtained, as before.