Truss Stiffness Method

Chapter 14:
Truss Analysis Using the Stiffness Method
Structural Analysis 7th Edition in SI Units

Russell C. Hibbeler
Fundamentals of the stiffness method
The stiffness method:

Is a disp method of analysis
Can be used to analyse both statically determinate
and indeterminate structures
Yields the disp & forces directly
It is generally much easier to formulate the
necessary matrices for the computer using the
stiffness method
Chapter 14: Truss Analysis Using the Stiffness Method

Structural Analysis 7th Edition
2009 Pearson Education South Asia Pte Ltd
Application of the stiffness method requires

subdividing the structure into a series of discrete
finite elements & identifying their end points as
nodes
For truss analysis, the finite elements are
represented by each of the members that compose
the truss & the nodes represent the joints
The force-disp properties of each element are
determined & then related to one another using
the force eqm eqn written at the nodes
These relationships for the entire structure are

then grouped together into the structure stiffness
matrix, K
The unknown disp of the nodes can then be
determined for any given loading on the structure
When these disp are known, the external &
internal forces in the structure can be calculated
using the force-disp relations for each member

Member stiffness matrix
To establish the stiffness matrix for a single truss

member using local x and y coordinates as shown
When a +ve disp dN is imposed on the near end of
the member while the far end is held pinned
The forces developed at the ends of the members
are:
AE AE
q' N d N ; q' F dN
L L

Likewise, a +ve disp dF at the far end, keeping the

near end pinned and results in member forces
AE AE
q' ' N d F ; q' ' F dF
L L
By superposition, the resultant

forces caused by both disp are
AE AE
qN dN dF
L L
AE AE
qF dF dN
L L
These load-disp eqn may be written in matrix form

as:
q N AE 1 1 d N
q 1 1 d
F L F
q k'd
AE 1 1
k'
L 1 1
This matrix, k is called the member stiffness

matrix
+ =

Displacement & Force Transformation
matrices
Since a truss is composed of many members, we
will develop a method for transforming the
member forces q and disp d defined in local
coordinates to global coordinates
Global coordinates convention: +ve x to the right
and +ve y upward
x and y as shown

matrices
The cosines of these angles will be used in the
matrix analysis as follows
These will be identified as x cos x ; y cos y
For e.g. consider member NF of the truss as
shown
The coordinates of N & F
are (xN, yN ) and (xF, yF )

matrices
xF x N
x cos x
L
xF x N

( xF x N ) 2 ( y F y N ) 2
yF yN
y cos y
L
yF y N

( xF x N ) 2 ( y F y N ) 2

matrices
Disp Transformation matrix
In global coordinates each end of the member can
have 2 degrees of freedom or independent disp;
namely joint N has DNx and DNy
Joint F has DFx and DFy

matrices
When the far end is held pinned & the near end is
given a global disp, the corresponding disp along
member is DNxcosx
A disp Dny will cause the member to be displaced
DNycosy along the x axis
d N D N x cos x DN y cos y
d F DFx cos x DFy cos y

matrices
Let x cos x ; y cos y
d N DN x x DN y y ; d F DFx x DFy y
In matrix form,
DN x

d N x y 0 0 DN y
d 0 0 D
F x y
Fx
DF
y
d TD
matrices
Force Transformation matrix
QN x q N cos x ; QN y q N cos y
If qF is applied to the bar,

the global force components at F are:
QFx q F cos x ; QFy q F cos y
Using x cos x ; y cos y
QN x q N x ; QN y q N y
QFx q F x ; QFy q F y
matrices
In matrix form
QN x x 0

QN y y 0 q N
Q 0 x qF
Fx
QF 0 y
y
Q T q T

matrices
In this case, TT transforms the 2 local forces q
acting at the ends of the member into 4 global force
components Q
This force transformation matrix is the transpose of
the disp transformation matrix

Member global stiffness matrix
We can determine the members forces q in terms

of the global disp D at its end points
q k ' TD
Substitution yields the final result:

Q T T k ' TD
or Q kD
k T T k'T
Member global stiffness matrix
Performing the matrix operation yields:

Truss stiffness matrix
Once all the member stiffness matrices are formed

in the global coordinates, it becomes necessary to
assemble them in the proper order so that the
stiffness matrix K for the entire truss can be found
This is done by designating the rows & columns of
the matrix by the 4 code numbers used to identify
the 2 global degrees of freedom that can occur at
each end of the member

Truss stiffness matrix
The structure stiffness matrix will then have an

order that will be equal to the highest code
number assigned to the truss since this rep the
total no. of degree of freedom for the structure
This method of assembling the member matrices
to form the structure stiffness matrix will now be
demonstrated by numerical e.g.
This process is somewhat tedious when performed
by hand but is rather easy to program on
computer
Example 14.1
Determine the structure stiffness matrix for the 2 member

truss as shown. AE is constant.

Solution
By inspection, member 2 will have 2 unknown disp components

whereas joint 1 & 3 are constrained from disp.
Consequently, the disp component at joint 2 are code numbered
first, followed by those at joints 3 & 1.
The origin of the global coordinate system can be located at any
point.
The members are identified arbitrarily & arrows are written along
2 members to identify the near & far ends of each member.
The direction cosines & the stiffness matrix for each member can
now be determined.

Solution
Member 1
We have:
30 00
x 1; y 0
3 3
Using eqn 14.16, dividing each element by L = 3m, we have:

Solution
Member 2
Since 2 is the near end & 1 is the far end, we have: (amend eqn)
30 40
x 0.6; y 0.8
5 5
Using eqn 14.16, dividing each element by L = 5m, we have:

Solution
This matrix has an order of 6x6 since there are 6 designated

degrees of freedom for the truss.
Corresponding elements of the above 2 matrices are added
algebraically to form the structure stiffness matrix.

Application of the stiffness method for
truss analysis
The global force components Q acting on the truss
can then be related to its global displacements D
using
Q KD
This eqn is referred to as the structure stiffness
eqn

truss analysis
Expanding yields
Qk K11 Du K12 Dk
Qu K 21 Du K 22 Dk
Often Dk = 0 since the supports are not displaced
Thus becomes
Qk K11 Du

truss analysis
Since the elements in the partitioned matrix K11
represent the total resistance at a truss joint to a
unit disp in either the x or y direction, then the
above eqn symbolizes the collection of all the force
eqm eqn applied to the joints where the external
loads are zero or have a known value Qk
Solving for Du, we have:
Du K11 Qk
1

truss analysis
With Dk =0 yields
Qu K 21 Du
The member forces can be determined

truss analysis
Since with qN = -qF for eqm,

Example 14.3
Determine the force in each member of the 2-member truss as

shown. AE is constant.

Solution
The origin of x,y and the numbering of the joints & members are
shown.
By inspection, it is seen that the known external disp are
D3=D4=D5=D6=0
Also, the known external loads are Q1=0, Q2=-2kN.
Hence,
0 3
0 4 0 1
Dk 5 Qk
0 2 2
0 6

Solution
Using the same notation as used here, this matrix has been
developed in example 14.1.
Writing eqn 14.17, Q = KD for the truss we have
We can now identify K11 and thereby determine Du

By matrix multiplication, 0 AE 0.405 0.096 D1 0
2 0.096 0.128 D2 0
4.505 19.003
D1 ; D2
Chapter 14: Truss Analysis Using the Stiffness Method AE AE
Solution
By inspection one would expect a rightward and downward disp

to occur at joint 2 as indicated by the +ve & -ve signs of the
answers.
Using these results,

Solution
Expanding & solving for the reactions

Q3 1.5kN
Q4 0kN
Q5 1.5kN
Q6 2.0kN
The force in each member can be found.
Using the data for x and y in example 14.1, we have:
For member 1,
x 1, y 0, L 3m q1 1.5kN
For member 2,
x 0.6, y 0.8, L 5m q2 2.5kN

Nodal Coordinates
A truss can be supported by a roller placed on a

incline
When this occurs, the constraint of zero deflection
at the support (node) cannot be directly defined
using a single horizontal & vertical global
coordinate system
Consider the truss
The condition of zero disp
at node 1 is defined only
along the y axis
Nodal Coordinates
Because the roller can displace along the x axis

this node will have disp components along both
global coordinates axes x & y
To solve this problem, so that it can easily be
incorporated into a computer analysis, we will use
a set of nodal coordinates x, y located at the
inclined support
These axes are oriented such that the reactions &
support disp are along each of the coordinate axes
Nodal Coordinates
To determine the global stiffness eqn for the truss,

it becomes necessary to develop force & disp
transformation matrices for each of the connecting
members at this support so that the results can be
summed within the same global x, y coordinate
system

Nodal Coordinates
Consider truss member 1 having a global

coordinate system x, y at the near node and a
nodal coordinate system x, y at the far node

Nodal Coordinates
When disp D occur so that they have components

along each of these axes as shown

Nodal Coordinates
This eqn can be written in matrix form as

DN x
0 0 DN
N x y
d y

d F 0 0 x y DFx"
DFy "
QN x q N cos x QN y q N cos y
QFx" q F cos x" QFy " q F cos y"

Nodal Coordinates
This can be expressed as:

QN x x 0
QN 0 q
y y N
Q 0 q F
x"
F x "

QFy " 0 y"
The disp & force transformation matrices in the

above eqn are used to develop the member
stiffness matrix for this situation

Nodal Coordinates
We have
k T T k 'T

Nodal Coordinates
Performing the matrix operation yields:
This stiffness matrix is used for each member that

is connected to an inclined roller support
The process of assembling the matrices to form
the structure stiffness matrix follows the standard
procedure
Example 14.6
Determine the support reactions for the truss as shown.

Solution
Since the roller support at 2 is on an incline, we must use nodal

coordinates at this node.
The stiffness matrices for members 1 and 2 must be developed.
Member 1,
x 1, y 0, x" 0.707, y" 0.707

Solution
Member 2,
x 0, y 1, x" 0.707, y " 0.707

Solution
Member 3,
x 0.8, y 0.6

Solution
Assembling these matrices to determine the structure stiffness

matrix, we have:

Solution
Carrying out the matrix multiplication of the upper partitioned

matrices, the three unknown disp D are determined from solving
the resulting simultaneous eqn.
352.5 157.5 127.3

D1 , D2 , D3
AE AE AE
The unknown reactions Q are obtained from the multiplication of

the lower partitioned matrices.
Q4 31.8kN , Q5 7.5kN , Q6 22.5kN

Trusses having thermal changes &
fabrication errors
If some of the members of the truss are subjected
to an increase or decrease in length due to
thermal changes or fabrication errors, then it is
necessary to use the method of superposition to
obtain the solution
This requires 3 steps

fabrication errors
First, the fixed end forces necessary to prevent
movement of the nodes as caused by temperature
or fabrication are calculated
Second, equal but opposite forces are placed on
the truss at the nodes & the disp of the nodes are
calculated using the matrix analysis
Third, the actual forces in the members & the
reactions on the truss are determined by
superposing these 2 results
fabrication errors
This force will hold the nodes of the member fixed
as shown

fabrication errors
This procedure is only necessary if the truss is
statically indeterminate
If a truss member of length L is subjected to a
temperature increase T, the member will undergo
an increase in length of L = TL
A compressive force q0 applied to the member will
cause a decrease in the members length of L =
q0L/AE
If we equate these 2 disp q0 = AE T
fabrication errors
This force will hold the nodes of the member fixed
as shown in the figure
(q N ) 0 AET
(q F ) 0 AET
If a temperature decrease occurs then T
becomes negative & these forces reverse direction
to hold the member in eqm

fabrication errors
If a truss member is made too long by an amount
L before it is fitted into a truss, the force q0
needed to keep the member at its design length L
is q0 = AEL /L
AEL
(q N ) 0
L
AEL
(q F ) 0
L

fabrication errors
If the member is too short, then L becomes
negative & these forces will reverse
In global coordinates, these forces are:

fabrication errors
With the truss subjected to applied forces,
temperature changes and fabrication errors, the
initial force-disp relationship for the truss then
becomes:
Q KD Q0
Qo is the column matrix for the entire truss of the
initial fixed-end forces caused by temperature
changes & fabrication errors

fabrication errors
Carrying out the multiplication on the RHS, we
obtain:
Qk K11 Du K12 Dk (Qk ) 0
Qu K 21Du K 22 Dk (Qu ) 0
According to the superposition procedure

described above, the unknown disp are
determined from the first eqn by subtracting K12Dk
and (Qk)0 from both sides & then solving for Du
fabrication errors
Once these nodal disp are obtained, the member
forces are determined by superposition:
q k ' TD q0
If this eqn is expanded to determine the force at

the far end of the member, we obtain:

Example 14.7
Determine the force in member 1 & 2 of the pin-connected

assembly if member 2 was made 0.01 m too short before it was
fitted into place. Take AE = 8(103)kN.

Solution
Since the member is short, then L = -0.01m.

For member 2, we have
x 0.8 y 0.6

Solution
Assembling the stiffness matrix, we have

Solution
Partitioning the matrices as shown & carrying out the

multiplication to obtain the eqn for the unknown disp yields,
Solving simultaneous eqn gives:

D1 0.003704m
D2 0.002084m
Solution
Member 1
x 0, y 1, L 3m, AE 8(103 )kN
q1 5.56kN
Member 2
x 0.8, y 0.6, L 5m, AE 8(10 3 )kN
q2 9.26kN

Space-truss analysis
The analysis of both statically determinate and

indeterminate space trusses can be performed by
using the same procedure discussed previously
To account for the 3-D aspects of the problem,
additional elements must be included in the
transformation matrix T
Consider the truss member

By inspection the direction cosines bet the global &

local coordinates can be found
xF x N
x cos x
L
xF x N

( xF x N ) ( y F y N ) ( z F z N )
2 2 2

yF y N
y cos y
L
yF yN

( xF x N ) 2 ( y F y N ) 2 ( z F z N ) 2
zF zN
z cos z
L
zF zN

( xF x N ) 2 ( y F y N ) 2 ( z F z N ) 2
As a result of the third dimension, the

transformation matrix becomes:
By substitution, we have

Carrying out the matrix multiplication yields the

symmetric matrix
This eqn rep the member stiffness matrix

expressed in global coordinates


Truss Stiffness Method

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Chapter 14:

Truss Analysis Using the Stiffness Method

Structural Analysis 7th Edition in SI Units

The stiffness method:

Chapter 14: Truss Analysis Using the Stiffness Method

Application of the stiffness method requires

These relationships for the entire structure are

Chapter 14: Truss Analysis Using the Stiffness Method

To establish the stiffness matrix for a single truss

Chapter 14: Truss Analysis Using the Stiffness Method

Likewise, a +ve disp dF at the far end, keeping the

By superposition, the resultant

These load-disp eqn may be written in matrix form

This matrix, k is called the member stiffness

Chapter 14: Truss Analysis Using the Stiffness Method

Chapter 14: Truss Analysis Using the Stiffness Method

Chapter 14: Truss Analysis Using the Stiffness Method

Chapter 14: Truss Analysis Using the Stiffness Method

Chapter 14: Truss Analysis Using the Stiffness Method

d F DFx cos x DFy cos y

Chapter 14: Truss Analysis Using the Stiffness Method

If qF is applied to the bar,

Chapter 14: Truss Analysis Using the Stiffness Method

Chapter 14: Truss Analysis Using the Stiffness Method

We can determine the members forces q in terms

Substitution yields the final result:

Performing the matrix operation yields:

Chapter 14: Truss Analysis Using the Stiffness Method

Once all the member stiffness matrices are formed

Chapter 14: Truss Analysis Using the Stiffness Method

The structure stiffness matrix will then have an

Determine the structure stiffness matrix for the 2 member

Chapter 14: Truss Analysis Using the Stiffness Method

By inspection, member 2 will have 2 unknown disp components

Chapter 14: Truss Analysis Using the Stiffness Method

Chapter 14: Truss Analysis Using the Stiffness Method

Chapter 14: Truss Analysis Using the Stiffness Method

This matrix has an order of 6x6 since there are 6 designated

Chapter 14: Truss Analysis Using the Stiffness Method

Chapter 14: Truss Analysis Using the Stiffness Method

Chapter 14: Truss Analysis Using the Stiffness Method

Chapter 14: Truss Analysis Using the Stiffness Method

The member forces can be determined

Chapter 14: Truss Analysis Using the Stiffness Method

Chapter 14: Truss Analysis Using the Stiffness Method

Determine the force in each member of the 2-member truss as

Chapter 14: Truss Analysis Using the Stiffness Method

Chapter 14: Truss Analysis Using the Stiffness Method

We can now identify K11 and thereby determine Du

By inspection one would expect a rightward and downward disp

Chapter 14: Truss Analysis Using the Stiffness Method

Expanding & solving for the reactions

x 0.6, y 0.8, L 5m q2 2.5kN

A truss can be supported by a roller placed on a

Because the roller can displace along the x axis

To determine the global stiffness eqn for the truss,

Chapter 14: Truss Analysis Using the Stiffness Method

Consider truss member 1 having a global

Chapter 14: Truss Analysis Using the Stiffness Method

When disp D occur so that they have components

Chapter 14: Truss Analysis Using the Stiffness Method

This eqn can be written in matrix form as

QFx" q F cos x" QFy " q F cos y"

Chapter 14: Truss Analysis Using the Stiffness Method