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 M t h a o t dr i sx M e t h o d

V it r u a l W oS r t k i f f n e s s b y D

F o r c e M e t h Do d i r e c t S t if f n e

S lo p e D e f le c t io n
T r u s s e s
M o m e n t - A r e a
B e a m 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 at j, with K = AE/L
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

Felement
=k*
δ F
k
Spring δ A⋅E
k
L
F⋅ L F A⋅E
δ Units of

Axial A ⋅ E
Force per
δ L Length
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
Forces
■ Known Loadings

For each released DOF, we get one equation

that adds to the stiffness, displacement and
loading matrices
 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
2 ■ 6 Degrees of
1
4 Freedom
3
■ DOFs 3,4,5,6 = 0
■ Unknown Reactions
(to be solved)
Remember.. More DOFs =included
More Equations
in Loading
Node Naming Convention
■ Unknown or
6
5 “Unfrozen” Degrees
of Freedom are
numbered first…
2
r1, r2
1
4
■ Unknown or
3 “Unfrozen” Degrees
of Freedom 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 3
Direct
RED 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
Node 2 structure into a set of
finite elements
Node 1 Next, we will build a
stiffness matrix for
2 4
each element (6
Here)
Later, we will combine
all of the local
1 3 5
stiffness matrices into
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).. S2
K11*v1 + K12*v2 = S1
v1
K21*v1 + K22*v2 = S2 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
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
has two displacements in the x r3
and y direction v1
r2 y
r1
x

v1 will be expressed by r1 and r2

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

v
r2 1 ■ The relationship between v and r is the
vector sum:
v1 = r1*cos Θ x + r2*cos Θ Y
ΘY v2 = r3*cos Θ x + r4*cos Θ Y
Θx
r1
Lx = cos Θ x
We can
v1 simplify
= r1*Lx the
+ cosine terms:Ly = cos Θ
y
r2*Ly
v2 = r3*Lx + Put in matrix form
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   relationship we sought
 0 0 Lx Ly 

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
 R3  0 Lx  S2
 R4  0  R2
S1
   Ly 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= aT * k * a * r
and substitute R = aT * S to get R = aT * k * a * r
Element Stiffness Matrix in Global
Coordinates Cont..

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

■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 = aT * k * a 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 ⋅
LxLy −Lx
2
−Lx⋅ Ly
 2 2 (14) From notes
A ⋅ E  LxLy⋅ Ly −Lx⋅ Ly −Ly 
Ke
L 
⋅
2 2  Great formula to
−Lx −Lx⋅ Ly Lx ⋅
LxLy plug into your
 
 −Lx⋅ Ly 2 2  calculator
 −Ly ⋅
LxLy Ly 
Element Stiffness Matrix in Global
Coordinates Cont..
Node 1
■Let’s use a 6
5
problem to illustrate
the rest of the
procedure Element 4 ft
2 2
Node 2 1
4
3

3 ft
■We will start by
calculating KE’s for Element Node 3
the two elements 1
 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

  r2
 0 0 0 0
Ke1 A ⋅ E⋅
Plug Lx, Ly and L  −0.333 0 0.333 0  r3
into equation 14 to  0 0 0 0  r4
 
get
Assembly of the Global Stiffness Matrix
(KG)

Element 2
r6 L =5
Far Lx = ∆ x / L = (3-0) / 5 =
r5
5 ft 0.6
4 ft Ly = ∆ y / L = (4-0) / 5 =
r2 0.8
r1 r2 r5 r6
3 ft
 0.072 0.096 −0.072 −0.096 r1
r1   r2
 0.096 0.128 −0.096 −0.128
Near Ke2 A ⋅ E⋅
 −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 r1
Shorthand

0.072 0.096
 
Ke2 A ⋅ E⋅
0.096 0.128 −0.096 −0.128  r2 Real
 −0.072 −0.096 0.072 0.096  r5
 −0.096 −0.128 0.096 0.128  r6 Matrix
 
r1 r2 r3 r4 r5
r6

Notice that there  0.072 0.096 0 0 −0.072 −0.096 r1

 0.096 0.128 0 0 −0.096 −0.128 r2
aren’t any terms  
r3
 0 0 0 0 0 0 
in the local  0 0 0 0 0 0  r4
matrix for r3 and  −0.072 −0.096 0 0 0.072 0.096
 r5
 
r4  −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
  r3
 −0.333 0.000 0.333 0.000 0.000 0.000 
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 matrice

K11 K12
=  Rk   K11 K12  ru 
  AE⋅   ⋅ 
K21 K22  Ru   K21 K22  rk 

Two Rk = AE ( K11*ru + (24)

Important K12*rk )
(25)
Equations Ru = AE ( K21*ru +
K22*rk
Going to )be ZERO.
Solution Procedure cont..

6 We will apply a load at DOF

5 2
Then
Rk use
= AE equation
( K11*ru (24) ) 0
+ K12*rk
 0
4 ft  
2  0   0.405 0.096  
r1  0
  AE⋅    
⋅ + AE⋅ K12⋅
 0
1  −10  0.096 0.128  r2
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  0 0 
⋅
AE  0
 R5
AE⋅
 −0.072 −0.096  + AE⋅ K22⋅  
−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

■To find 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
 
so S
AE r2
⋅ ( −Lx −Ly Lx Ly ) ⋅  
L  r3
 r4
 
Internal Member Force Recovery
Cont..

■For Element 1  22.52 

r1
 AE 
 
−95.02
S1
AE
⋅ ( −1 0 1 0 ) ⋅  r2 = -7.5 kips
3  AE 
 0  r3
 
 0  r4

■For Element 2
 22.52  r1
 AE 
 
S2
AE
⋅ ( −0.6 −0.8 0.6 0.8) ⋅ 
−95.02 r2 = 12.5 kips
5  AE 
 0 
r5
  r6
 0 
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

a 1 ⋅ x + b1 ⋅ y + c 1 ⋅ z = d1
a 2 ⋅ x + b2 ⋅ y + b2 ⋅ z = d2 In order to solve x,y,z ..
You must have three
a 3 ⋅ x + b3 ⋅ y + b3 ⋅ z = d3
equations

 a 1 b 1 c 1  x   d 1
But you must put these      
equations in matrix  a 2 b 2 b 2  ⋅ y  =  d 2
form  a b b   z d 
 3 3 3  3
41
A Sample Problem solved with Stiffness by Definition
and Direct Stiffness

A 3 C

1
2

10 kips
5 kips
42

For Stiffness by Definition, we are only concerned with

the three DOF’s that are free to move:

r3

r2

r1
43

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
44

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
45

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
46

The final stiffness matrix is as follows..

r1 r2 r3

 7 −
1
−
2  r1
 50 50 25 
 
 1 91 3  r2 r1 r2 r3
K − −
 50 600 50  0.14 -0.02 -0.08 r1
 2 3 9  -0.02 0.152 -0.06 r2
− −  r3
-0.08 -0.06 0.18 r3
 25 50 50 
47

For Direct Stiffness, we are concerned with all six

DOF’s in the structural system:

r6 r4

r5 r3

r2

r1
48

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
2
−Lx⋅ Ly Near X
 LxLy
 2 
2 Near Y
⋅
A ⋅ E  LxLy Ly −Lx⋅ Ly −Ly 
Ke ⋅
L  2 2  Far X
 −Lx −Lx⋅ Ly Lx ⋅
LxLy

 −Lx⋅ Ly 2 2  Far Y
 −Ly ⋅
LxLy Ly 
49

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  r2
 25 − − 
 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  r5
 − 50 25
0 0
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  r4
 50 200 
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  r3
 − 10 0
10
0
 
 0 0 0 0 r4
53

Summing Elements 1 through 3

 3 2 3 2   2 2 2 3   1 0 
 − −   − −  1
 10 0 −
 50 25 50 25
  25 50 25 50
 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⋅   Ke 2 AE⋅   Ke 3
− 3 2 3
− 
2 − 2 − 3 2 3
  1 1 
 50 25 50 25   25 50 25 50 
 − 10 0
10
0
 2 8   3 9 
 25 −
8
−
2

9
 − 50 − 200
3
  
 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  r1
 50 25 25 50 25 50 50 25

 
− 2 + 3 8 + 9 −
3
−
9 2
−
8 
r2
 25 50 75 200 50 200 25 75 
 2 3 2 1 3 1

 − − + +0 − 0  r3
25 50 25 10 50 10
KG AE⋅  
 3 9 3 9 
 − − + 0 + 0 0 0  r4
50 200 50 200
 
 −3 2
−
1
0
3
+
1
−
2
+ 0 r5
 50 25 10 50 10 25 
 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

K
X =
completed rknown Runknown

Zero Unless
Settlement
Occurs Reactions