A Recap of

Stiffness by
Definition and
the Direct
March 20, 2003
9:35 AM
Stiffness Method
Little 109
CES 4141
Forrest Masters
Farther Down the Yellow Brick Road..

S t r u c t u r a l A n a ly s is

C la s s ic a l M e th o d s M a tr ix M e th o d s

V itr u a l W o r k S tif f n e s s b y D e f in itio n

F o r c e M e th o d D ir e c t S tif f n e s s

S lo p e D e f le c tio n
T ru s s e s
M o m e n t- A r e a
Beam s
Our Emphasis This Week: Trusses..

 Composed of slender, lightweight

members
 All loading occurs on joints
 No moments or rotations in the
joints
 Axial Force Members
 Tension (+)
 Compression (-)
Stiffness
 Kij = the amount of force required
at i to cause a unit displacement K = AE/L
at j, with displacements at all
other DOF = zero
 A function of:
– System geometry
– Material properties (E, I)
– Boundary conditions (Pinned, Roller
or Free for a truss)
 NOT a function of external loads
From Strength of Materials..

Combine two equations to get a stiffness element

F=k* F
k
Spring  A E
k
L
F L F A E
 Units of
AE  L Force per
Length
Axial Deformation
Go to the Board..

Let’s take a
look at last
week’s
homework to
shed some light
on the Stiffness
by Definition
Procedure

DOF
From Stiffness by Definition
 We can create a stiffness matrix that
accounts for the material and geometric
properties of the structure
 A square, symmetric matrix Kij = Kji
 Diagonal terms always positive
 The stiffness matrix is independent of the
loads acting on the structure. Many
loading cases can be tested without
recalculating the stiffness matrix
However ..

Stiffness by Definition only uses a small part of the

information available to tackle the problem
Stiffness by Definition Only Considers..

 Stiffnesses from
Imposed Stiffness
K*r=R
Displacements Matrix
 Unknown Known
Unknown
Displacements External
Displacements
 Known Loadings Forces

For each released DOF, we get one equation that adds

to the stiffness, displacement and loading matrices
But what about Reactions and Known Displacements?
 A Better Method: Direct Stiffness

Consider all DOFs Stiffness By Direct

Definition Stiffness

PIN 0 2

ROLLER 1 2

..now we have more equations to work with

A Simple Comparison
Stiffness by Definition
6
5  2 Degrees of Freedom

Direct Stiffness
 6 Degrees of Freedom
2  DOFs 3,4,5,6 = 0
1
4  Unknown Reactions (to
3
be solved) included in
Loading Matrix

Remember.. More DOFs = More Equations

Node Naming Convention
 Unknown or “Unfrozen”
6
5 Degrees of Freedom are
numbered first…
r1, r2
2
 Unknown or “Unfrozen”
1
4 Degrees of Freedom
3 follow
r3, r4, r5, r6

If Possible.. X-direction before Y-direction

 6
5
Stiffness by Definition vs
Direct Stiffness 2
1 4
Stiffness by Definition Solution in RED 3
Direct Stiffness Solution in RED/YELLOW

K11 K12 K13 K14 K15 K16 r1 R1

K21 K22 K23 K24 K25 K26 r2 R2
K31 K32 K33 K34 K35 K36 r3 R3
=
K41 K42 K43 K44 K45 K46 r4 R4
K51 K52 K53 K54 K55 K56 r5 R5
K61 K62 K63 K64 K65 K66 r6 R6
The Fundamental Procedure
 Calculate the Stiffness Matrix
 Determine Local Stiffness Matrix, Ke
 Transform it into Global Coordinates, KG
 Assemble all matrices
 Solve for the Unknown Displacements
 Use unknown displacements to solve for the Unknown Reactions
 Calculate the Internal Forces
To continue..

 You need your Direct Stiffness – Truss

Application Handout to follow the
remaining lecture. If you forgot it,
look on your neighbor’s, please
 I have your new homework (if you
don’t have it already)
FOR MORE INFO ..

Go to http://www.ce.ufl.edu/~kgurl for the handout

Overview
First, we will decompose
the entire structure into
Node 2 a set of finite elements
Next, we will build a
Node 1
stiffness matrix for each
element (6 Here)
2 4 Later, we will combine all
of the local stiffness
matrices into ONE global
stiffness matrix
1 3 5
Element Stiffness Matrix in Local Coordinates

 Remember Kij = the amount of force required at i to cause a unit displacement at j, with displacements at
all other DOF = zero
 For a truss element (which has 2 DOF)..

K11*v1 + K12*v2 = S1
K21*v1 + K22*v2 = S2
S2

v1
v2

K11 K12 v1 S1
= S1
K21 K22 v2 S2
Gurley refers to the axial displacement as “v” and the
internal force as “S” in the local coordinate system
Element Stiffness Matrix in Local Coordinates

 Use Stiffness by Definition to finding Ks of Local System

K21 AE K22
L
K11
Node 2 AE
L K12

Node 1 K11 = AE / L K12 = - AE / L

K21 = - AE / L K22 = AE / L
Element Stiffness Matrix in Local Coordinates
Cont..

Put the local stiffness elements in matrix form

Simplified..

For a truss element

 Displacement Transformation Matrix

 Structures are composed of many members in many

orientations
 We must move the stiffness matrix from a local to a
global coordinate system

GLOBAL
S2
r4
v1 r3
v2
r2 y
S1 LOCAL r1 x
How do we do that?
 Meaning if I give you a point (x,y) in
Coordinate System Z, how do I find the
coordinates (x’,y’) in Coordinate System Z’

y’
Use a
y x Displacement
Transformation
Matrix
x’
To change the coordinates of a truss..

 Each node has one displacement

in the local system concurrent to v2
the element (v1 and v2) r4
 In the global system, every node r3
has two displacements in the x v1
and y direction r2 y
r1
x

v1 will be expressed by r1 and r2

v2 will be expressed by r3 and r4
Displacement Transformation Matrix Cont..

r2 v1  The relationship between v and r is

the vector sum:
Y v1 = r1*cos x + r2*cos Y
x v2 = r3*cos x + r4*cos Y
r1
Lx = cos x
We can simplify the cosine terms: Ly = cos y
v1 = r1*Lx + r2*Ly
Put in matrix form
v2 = r3*Lx + r4*Ly
Displacement Transformation Matrix Cont..

 r1 
v1 = r1*Lx + r2*Ly  v1   Lx Ly 0 0    r2 
    
v2 = r3*Lx + r4*Ly  v2   0 0 Lx Ly  r3
 r4 
 

 Lx Ly 0 0  Transformation matrix, a gives us the

a  
 0 0 Lx Ly  relationship we sought

So.. v = a*r
Force Transformation Matrix

Similarly, we can perform a transformation

on the internal forces
S2
 R1 
  Lx 0 
 R2   Ly 0    S1  R4
 R3   0 Lx   S2  R3
 R4   0 Ly  R2
    S1 R1
 Element Stiffness Matrix in Global Coordinates

Let’s put it all together.. We know that the

Internal force = stiffness * local displacement (S = k * v)

Units: Force = (Force/Length) * Length
local disp = transform matrix * global disp (v = a * r)
Substitute local displacement
Internal force = stiffness * transform matrix * global disp
(S = k * a * r)
Premultiply by the transpose of “a”
aT * S= a T * k * a * r
and substitute R = aT * S to get R = aT * k * a * r
Element Stiffness Matrix in Global Coordinates
Cont..

R = aT * k * a * r is an important relationship
between the loading, stiffness
Stiffness and displacements of the structure
term in terms of the global system

We have a stiffness term, Ke, for each element in the

structure

Ke = aT * k * a

We use them to build the global stiffness matrix, KG

Element Stiffness Matrix in Global Coordinates
Cont..

Let’s expand all of terms to get

Ke = a * k * a
T
a Ke that we can use.



Lx 0 

A  E  Ly 0   1 1   Lx Ly 0 0 
Ke    
 
L  0 Lx   1 1   0 0 Lx Ly 
 0 
 Ly 

 Lx2 Lx Ly Lx2 Lx Ly 

 
 2 2  (14) From notes
A E  Lx Ly Ly Lx  Ly Ly 
Ke 
L  2 2  Great formula to plug
Lx Lx Ly Lx Lx Ly
  into your calculator
 Lx Ly Ly 2 Lx Ly Ly 2 
 
Element Stiffness Matrix in Global Coordinates
Cont..
Node 1
Let’s use a problem 6
5
to illustrate the rest of
the procedure
Element 2 4 ft
2
Node 2 1
4
3
We will start by 3 ft
calculating KE’s for the
two elements Element 1 Node 3
 Assembly of the Global Stiffness Matrix (KG)

Element 1
Near Far
L =3
r2 r4
3 ft Lx = x / L = (3-0) / 3 = 1
Ly = y / L = (0-0) / 3 = 0
r1 r3
r1 r2 r3 r4
Pick a Near and a Far
 0.333 0 0.333 0  r1

 0 0 0 0  r2
Plug Lx, Ly and L into Ke1 A  E
equation 14 to get  0.333 0 0.333 0  r3
 0 
0  r4
 0 0
Assembly of the Global Stiffness Matrix (KG)

Element 2
r6 L =5
Far Lx = x / L = (3-0) / 5 = 0.6
r5
5 ft Ly = y / L = (4-0) / 5 = 0.8
4 ft
r2 r1 r2 r5 r6
3 ft 0.096 0.072 0.096 r1
 0.072
r1  
 0.096 0.128 0.096 0.128 r2
Ke2 A  E
Near  0.072 0.096 0.072 0.096  r5
 0.096 
0.128 0.096 0.128  r6

The Entire Local Stiffness
Matrix in Global Terms
r1 r2 r5 r6
 0.072 0.096 0.072 0.096
r1
Shorthand

0.096 0.128 0.096 0.128 r2
Ke2 A  E  Real Matrix
 0.072 0.096 0.072 0.096  r5
 0.096 
 0.128 0.096 0.128  r6
r1 r2 r3 r4 r5 r6

 0.072 0.096 0 0 0.072 0.096 r1

Notice that there  0.096 0.128 0 0 0.096 0.128 r2
aren’t any terms in  
 0 0 0 0 0 0  r3
the local matrix for  0 0 0 0 0 0  r4
r3 and r4  0.072 0.096 0 0 0.072 0.096

  r5
 0.096 0.128 0 0 0.096 0.128  r6
Assembly of the Global
Stiffness Matrix (KG)
Summing Ke1 and Ke2
K r = R

r1 r2 r3 r4 r5 r6
 0.405 0.096 0.333 0.000 0.072 0.096 r1
 0.096 0.128 0.000 0.000 0.096 0.128  r2
 
 0.333 0.000 0.333 0.000 0.000 0.000  r3
KG A  E
 0.000 0.000 0.000 0.000 0.000 0.000  r4
 0.072 0.096 0.000 0.000 0.072 0.096
 r5
 
 0.096 0.128 0.000 0.000 0.096 0.128  r6
How does this relate to Stiffness by Definition?
Solution Procedure

Now, we can examine the full system

Loads acting on the nodes Unknown Deflections

R1 0.405 0.096 -0.333 0.000 -0.072 -0.096 r1
R2 0.096 0.128 0.000 0.000 -0.096 0.128 r2
R3 -0.333 0.000 0.333 0.000 0.000 0.000 r3
= X
R4 0.000 0.000 0.000 0.000 0.000 0.000 r4
R5 -0.072 -0.096 0.000 0.000 0.072 0.096 r5
R6 -0.096 -0.128 0.000 0.000 0.096 0.128 r6
Reactions Known displacements
@ reactions ( = 0 )
Solution Procedure cont..

To find the unknowns, we must subtend the matrices

K11 K12
 Rk  AE  K11 K12    ru 
=     
K21 K22  Ru   K21 K22   rk 

Two Important Rk = AE ( K11*ru + K12*rk ) (24)

Equations Ru = AE ( K21*ru + K22*rk ) (25)

Going to be ZERO. Why?

Solution Procedure cont..

6 We will apply a load at DOF 2

5 Then use equation (24)
Rk = AE ( K11*ru + K12*rk ) 0
 0 
4 ft  0   0.405 0.096  r1  0
2   AE       AE K12  
1  10   0.096 0.128  r2  0
4 0
 
3
0 = AE ( 0.405*r1 + 0.096*r2)
3 ft
-10 = AE ( 0.096*r1 + 0.128*r2)

10 kips solved r1 = 22.52/AE

r2 = -95.02/AE
Solution Procedure cont..

With the displacements, we can use equation (25) to find

the reactions at the pinned ends
Ru = AE ( K21*ru + K22*rk ) 0
 R3   0.333 0   22.52  0
     
 R4  AE  0 0  AE 
 0
   AE K22
 R5   0.072 0.096 95.02 0
 
 R6   0.096 0.128  AE  0
     

R3 = -7.5 kips R4 = 0 kips

R5 = 7.5 kips R6 = 10 kips
Internal Member Force Recovery

Tofind the internal force inside of an element, we

must return to the local coordinate system
Remember the equation S = k * a * r ?

 r1 
 S1 
 
AE  1 1   Lx Ly 0 0   r2 
   
But S1 always
 S2  L  1 1   0 0 Lx Ly  r3
Equals –S2
 r4 
 

 r1 
 r2 
so S
AE
 ( Lx Ly Lx Ly ) 
L  r3 
 r4 
 
Internal Member Force Recovery Cont..

For Element 1  22.52 

 AE  r1
 
95.02 
 ( 1 0 1 0 )  
AE
S1
3  AE 
r2 = -7.5 kips
 0  r3
 
 0  r4

For Element 2
 22.52  r1
 AE 
 
95.02 
S2
AE
 ( 0.6 0.8 0.6 0.8 )   r2 = 12.5 kips
5  AE 
 0  r5
 
 0  r6
Conclusion
We solved
 Element Stiffnesses
 Unknown
Displacements
 Reactions
 Internal Forces

I will cover another example

in the laboratory
Matrices..

Start with a basic equation a x  b  y  c z d

a1 x  b1  y  c1 z  d1 In order to solve x,y,z ..
a2 x  b2  y  b2  z  d2 You must have three
equations
a3 x  b3  y  b3  z  d3

a1 b1 c1  x d1

But you must put these     
equations in matrix  a 2 b 2 b 2   y  = d2
form a b b  z d 
 3 3 3  3
4
1 A Sample Problem solved with Stiffness by Definition
and Direct Stiffness

A 3 C

1
2

10 kips
5 kips
4
2

For Stiffness by Definition, we are only concerned with

the three DOF’s that are free to move:

r3

r2

r1
4
3

For Column 1, we set r1 = 1 and r2 = r3 = 0

A C

B B’
Element Change in Length

1 6/10 Long
Unit Displacement 2 8/10 Short
3 0
4
4

For Column 2, we set r2 = 1 and r1 = r3 = 0

A C
B’
Unit Displacement

B
Element Change in Length

1 8/10 Short
2 6/10 Short
3 0
4
5

For Column 3, we set r3 = 1 and r1 = r2 = 0

C C’

Unit Displacement

B
Element Change in Length

1 0
2 4/5 Long
3 1 Long
4
6

The final stiffness matrix is as follows..

r1 r2 r3

 7 
1

2 r1
 50 50 25 
 
K  
1 91

3 
r2 r1 r2 r3
 50 600 50  0.14 -0.02 -0.08 r1
 2 3 9  -0.02 0.152 -0.06 r2
   r3
 25 50 50  -0.08 -0.06 0.18 r3
4
7

For Direct Stiffness, we are concerned with all six

DOF’s in the structural system:

r6 r4

r5 r3

r2

r1
4
8

In the Direct Stiffness Method, we will use this equation

for each elements 1, 2 and 3:
DOF
Location
Near X Near Y Far X Far Y

 Lx2 Lx Ly Lx2 Lx Ly 

  Near X
 2 2 
A  E  Lx Ly Ly Lx Ly Ly  Near Y
Ke 
L  2 2 
Lx Lx Ly Lx Lx Ly Far X
 
 Lx Ly Ly2 Lx Ly Ly 2 
  Far Y
4
9

Element 1
L=6
Lx = 0.6
Ly = -0.8 r5 r6 r1 r2

 3 2 3 2  r5
   
 50 25 50 25

 2 8 2 8  r6
 
 25 75 25 75 
Ke 1 AE  
 3 2 3
 
2
r1
 50 25 50 25 
 2 8 2 8 
 25    r2
 75 25 75 
50

Element 1 – Another View

r1 r2 r3 r4 r5 r6
 3 
2
0 0 
3 2  r1
 50 25 50 25 
 
 2 8
0 0
2
 
8
r2
 25 75 25 75 
 0 0 0 0 0 0  r3
Ke1 AE  
r4
 0 0 0 0 0 0

 3 2 3

2 
0 0 r5
 50 25 50 25 
 
 2 
8
0 0 
2 8
 r6
 25 75 25 75 
51

Element 2
L=8
Lx = 0.8
Ly = 0.6 r1 r2 r3 r4
 2 2 2 3  r1
   
 25 50 25 50

 3 9 3 9 
  r2
 50 200 50 200 
Ke 2 AE  
 2  3 2 3
 r3
 25 50 25 50 
 3 9 3 9 
  50  200 
 50 200  r4
52

Element 3
L = 10
Lx = 1
Ly = 0 r5 r6 r3 r4

 1 0 
1
0  r5
 10 10
  r6
 0 0 0 0
Ke 3 AE
 1 1 
  10 0
10
0 r3

 
 0 0 0 0 r4
53

Summing Elements 1 through 3

 3   2   1 0 
2 3 2 2 2 3 1
     
0 
 50 25 50 25
  25 50 25 50
  10 10
 2 8 2 8   3 9

3

9   
  25 
75   50 200 200  0 0 0 0
AE 
75 25 50
Ke 1 AE 
 3 2 3
 
2
 + Ke 2 AE 
 2  3 2 3


+ Ke 3
 1 1 
 50 25 50 25   25 50 25 50    10 0
10
0
 2 8 2 8   3 9 3 9   
 25      50  200 
 75 25 75   50 200   0 0 0 0

Remember: We must take care to add the correct elements

from the local stiffness matrix to the global stiffness matrix.
54

Summing Elements 1 through 3

r1 r2 r3 r4 r5 r6
 3  2 2  3 
2

3

3 2 
 50 25 25 50 25 50 50 25
 r1
 
 2  3 8  9 
3

9 2

8 
 25 50 75 200 50 200 25 75  r2
 2 3 2 1 3 1

    0  0 
25 50 25 10 50 10 r3
KG AE  
 3 9 3 9 
    0  0 0 0  r4
50 200 50 200
 
  3 2 1 3 1 2
 0    0
 50 25 10 50 10 25  r5
 2 8 2 8 
  0 0  0 0 
r6
 25 75 25 75 
55

Summing Elements 1 through 3

Look Familiar? We found the yellow portion
in the Stiffness by Definition Method

r1 r2 r3 r4 r5 r6
0.14 -0.02 -0.08 -0.06 -0.06 0.08 r1
-0.02 0.15 -0.06 -0.05 0.08 -0.11 r2
-0.08 -0.06 0.18 0.06 -0.10 0.00 r3
-0.06 -0.05 0.06 0.05 0.00 0.00 r4
-0.06 0.08 -0.10 0.00 0.16 -0.08 r5
0.08 -0.11 0.00 0.00 -0.08 0.11 r6
Stiffness by Definition vs Direct Stiffness

K X runknown = Rknown

X =
K completed rknown Runknown

Zero Unless
Settlement Occurs Reactions