Lect 06 Truss Stiffness Method Dr. Wan Sabki

Structural
Analysis
Lecture #6
Truss Analysis using
the stiffness method
Dr. Wan Mohd Sabki Wan Omar

Structure & Construction Engineering
Email: wansabki@unimap.edu.my/
sabki.wanomar@griffithuni.edu.au
Phone: 013-9335477 1
Outline
Fundamentals of the stiffness method
Member stiffness matrix
Disp & force transformation matrix
Member global stiffness matrix
Truss stiffness matrix
Application of the stiffness method for truss
analysis
Nodal coordinates
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1
Outline
Trusses having thermal changes & fabrication
errors
Space-truss analysis
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14-1 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
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2
method
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
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method
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
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3
14-2 Member stiffness matrix
To establish the stiffness matrix for a single
truss member using local x’ and y’
coordinates as shown in Fig 14.2
When a +ve disp dN is imposed on the near
end of the member while the far end is held
pinned, Fig 14.2(a)
The forces developed at the ends of the
members are:
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Likewise, a +ve disp dF at the far end, keeping
the near end pinned, Fig 14.2(b) results in
member forces
By superposition, Fig 14.2(c), the resultant

forces caused by both disp are
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4
These load-disp eqn may be written in matrix
form as:
This matrix, k’ is called the member stiffness

matrix
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+ =
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5
14-3 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
θx and θy as shown in Fig 14.3
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The cosines of these angles will be used in
the matrix analysis as follows
These will be identified as
For e.g. consider member

NF of the truss as
shown in Fig 14.4
The coordinates of N & F
are (xN, yN ) and
(xF, yF ) respectively
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6
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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, Fig 14.5(a) and 14.5(b)
Joint F has DFx and DFy, Fig 14.5(c) and
14.5(d)
When the far end is held pinned & the near
end is given a global disp, Fig 14.5(a), the
corresponding disp along member is
DNxcosθx
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7
Disp Transformation matrix (cont’d)
A disp Dny will cause the member to be
displaced DNycosθy along the x’ axis, Fig
14.5(b)
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8
T transforms the 4 global disp into 2 local x’
disp
Hence, T is referred to as the disp
transformation matrix
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9
Force Transformation matrix
Consider Fig 14.6(a)
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If qF is applied to the bar, Fig 14.6(b), the
global force components at F are:
Using
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Force Transformation matrix (cont’d)
In matrix form
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Force Transformation matrix (cont’d)
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
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11
14-4 Member global stiffness
matrix
If we sub eqn 14.8 into eqn 14.3, we can
determine the member’s forces q in terms of
the global disp D at its end points
Sub this eqn into eqn 14.11 yields the final

result:
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14-4 Member global stiffness

matrix
Performing the matrix operation yields:
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14-5 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
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14-5 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
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13
Example 14.1
Determine the structure stiffness matrix for
the 2 member truss shown in Fig 14.7(a)
AE is constant
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Example 14.1 - 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, Fig 14.7(b)
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
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14
The direction cosines & the stiffness matrix for
each member can now be determined
Member 1
Using eqn 14.5 & 14.6 we have:
Using eqn 14.16, dividing each element by

L = 3m, we have:
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Member 2
Since 2 is the near end & 1 is the far end,
we have: (amend eqn)
Using eqn 14.16, dividing each element by

L = 5m, we have:
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This matrix has an order of 6x6 since tehre
are 6 designated degrees of freedom for the
truss, Fig 14.7(b)
Corresponding elements of the above 2
matrices are added algebraically to form the
structure stiffness matrix
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16
If a computer is used for this operation,
generally one starts with K having all zero
elements
As the member global stiffness matrices are
generated, they are placed directly into their
respective element positions in the K matrix
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14-6 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
This eqn is referred to as the structure

stiffness eqn
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17
Expanding eqn 14.18 yields
Often Dk = 0 since the supports are not

displaced
Eqn 14.19 becomes
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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 symbolises 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:
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18
Using eqn 14.20 with Dk =0 yields
The member forces can be determined using

eqn 14.13
Expanding this eqn yields
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Since with qN = -qF for eqm,
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Example 14.3
Determine the force in each member of the 2-
member truss shown in Fig 14.9(a)
AE is constant
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The origin of x,y and the numbering of the
joints & members are shown in Fig 14.9(b)
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,
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20
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
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By matrix multiplication,
Solving, we get
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21
By inspection of Fig 14.9(b), one would
expect a rightward and downward disp to
occur at joint 2 as indicated by the +ve & -ve
signs of the answeres
Using these results,
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Expanding & solving for the reactions
The force in each member is found from eqn

14.23
Using the data for λx and λy in example 14.1,
we have:
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22
These answers can be verified by eqm

applied at joint 2
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14-7 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
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23
Consider the truss in Fig 14.12(a)
The condition of zero disp at node 1 is defined
only along the y” axis
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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
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24
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
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Consider truss member 1 in Fig 14.12(b)
having a global coordinate system x, y at the
near node and a nodal coordinate system x”,
y” at the far node
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25
When disp D occur so that they have
components along each of these axes as
shown in Fig 14.12(c)
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The disp at d in the x’ direction along the ends
of the member becomes
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26
This eqn can be written in matrix form as
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This can be expressed as:
The disp & force transformation matrices in

the above eqn are used to develop the
member stiffness matrix for this situation
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27
Applying eqn 14.15, we have:
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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
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Example 14.6
Determine the support reactions for the truss
shown in Fig 14.13(a)
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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 using eqn 14.24
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29
Member 1
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Member 2
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30
Member 3
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Assembling these matrices to determine the
structure stiffness matrix, we have:
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31
Carrying out the matrix multiplication of the
upper partitioned matrices, the three unknown
disp D are determined from solving the
resulting simultaneous eqn
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The unknown reactions Q are obtained from
the multiplication of the lower partitioned
matrices in eqn (1)
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32
14-8 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
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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
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33
This force will hold the nodes of the member
fixed as shown in Fig 14.14
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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 = α ∆TL
A compressive force q0 applied to the
member will cause a decrease in the
member’s length of ∆L’ = q0L/AE
If we equate these 2 disp q0 = AEα ∆T
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34
This force will hold the nodes of the member
fixed as shown in Fig 14.14
If a temperature decrease occurs then ∆T

becomes negative & these forces reverse
direction to hold the member in eqm
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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 = AE∆L /L
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35
If the member is too short, then ∆L becomes
negative & these forces will reverse
In global coordinates, these forces are:
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With the truss subjected to applied forces,
temperature changes and fabrication errors,
the initial force-disp relationship for the truss
then becomes:
Qo is the column matrix for the entire truss of

the initial fixed-end forces caused by
temperature changes & fabrication errors of
the member defined in eqn 14.25 & 14.26
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Carrying out the multiplication on the RHS, we
obtain:
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
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Once these nodal disp are obtained, the
member forces are determined by
superposition:
If this eqn is expanded to determine the force
at the far end of the member, we obtain:
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Example 14.7
Determine the force in member 1 & 2 of the
pin-connected assembly of Fig 14.15 if
member 2 was made 0.01 m too short before
it was fitted into place
Take AE = 8(103)kN
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Since the member is short, then ∆L = -0.01m
Applying eqn 14.26 to member 2, with
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38
Assembling the stiffness matrix & applying
eqn 14.27 we have:
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Partitioning the matrices as shown & carrying
out the multiplication to obtain the eqn for the
unknown disp yields
Solving simultaneous eqn gives:
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The reactions Q can be found from the
expansion of eqn (1) following the format of
eqn 14.29
In order to determine the force in members 1
& 2, we must apply eqn 14.30
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Member 1
Member 2
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14-9 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
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Consider the truss member shown in Fig
14.17
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By inspection of Fig 14.17, the direction
cosines bet the global & local coordinates can
be found using eqn analogous to eqn 14.5 &
14.6
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42
As a result of the third dimension, the
transformation matrix becomes:
Sub this & eqn 14.4 into eqn 14.5 yields:
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Carrying out the matrix multiplication yields
the symmetric matrix
This eqn rep the member stiffness matrix

expressed in global coordinates
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Lect 06 Truss Stiffness Method Dr. Wan Sabki

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Structural

Dr. Wan Mohd Sabki Wan Omar

14-1 Fundamentals of the stiffness

Can be used to analyse both statically

It is generally much easier to formulate the

14-1 Fundamentals of the stiffness

14-2 Member stiffness matrix

By superposition, Fig 14.2(c), the resultant

This matrix, k’ is called the member stiffness

14-2 Member stiffness matrix

14-3 Displacement & Force

For e.g. consider member

14-3 Displacement & Force

14-3 Displacement & Force

14-3 Displacement & Force

14-3 Displacement & Force

14-3 Displacement & Force

Sub this eqn into eqn 14.11 yields the final

14-4 Member global stiffness

14-5 Truss stiffness matrix

Example 14.1 - solution

Using eqn 14.16, dividing each element by

Example 14.1 - solution

Using eqn 14.16, dividing each element by

Example 14.1 - solution

14-6 Application of the stiffness

This eqn is referred to as the structure

Often Dk = 0 since the supports are not

14-6 Application of the stiffness

The member forces can be determined using

14-6 Application of the stiffness

Example 14.3 - solution

We can now identify K11 and thereby

Example 14.3 - solution

Example 14.3 - solution

The force in each member is found from eqn

These answers can be verified by eqm

14-7 Nodal Coordinates

14-7 Nodal Coordinates

14-7 Nodal Coordinates

14-7 Nodal Coordinates

14-7 Nodal Coordinates

The disp & force transformation matrices in

14-7 Nodal Coordinates

This stiffness matrix is used for each member

Example 14.6 - solution

Since the roller support at 2 is on an incline,

Example 14.6 - solution

Example 14.6 - solution

Example 14.6 - solution

14-8 Trusses having thermal

14-8 Trusses having thermal

If a temperature decrease occurs then ∆T

14-8 Trusses having thermal

14-8 Trusses having thermal

Qo is the column matrix for the entire truss of

According to the superposition procedure

14-8 Trusses having thermal

Example 14.7 - solution

Example 14.7 - solution

Solving simultaneous eqn gives:

Example 14.7 - solution

14-9 Space-truss analysis

14-9 Space-truss analysis