Direct Stiffness method

in Finite Element Theory

Example 2: torsion of shaft
Given T2 (external torque), T3 0 Torsional angle
1 0, 4 0 ~ fixed boundary conditions TL JG
= k
T1 , T4 ,2 ,3 ~ unknown to be calculated JG L

1
The relation between local and global coordinates
Continuity (conpatibility) conditions: Equilibrium of nodal torque:
1 11 T1 T11
2 21 12 T2 T21 T12
3 22 13 T3 T22 T13
4 23 T42 T23
 T1J k11J k12J 1J k11J k12J 1J k11J k12J 0 T11J T12J
J J J J
J J J J J
J J
k
2 21 22 2 21 22 21 22 2 T21 T22
T k k k 0 k k

Determine k11J , k21J

Force balance: T11J T21J 0 T21J T11J
Force displacement relation: T11J k J 1J
T21J k J 1J
T11J k11J k12J 1J k11J J k J J
J J J J 1 1
21 21 22 21
T k k 0 k
Jk

k11J k J
J
k21 k J

4
 T1J k11J k12J 1J k11J k12J 1J k11J k12J 0 T11J T12J
J J J J
J J J J J
J J

T2 k21 k22 2 k21 k22 0 k21 k22 2 T21 T22

Determine k12J , k22J

Force balance: T12J T22J 0 T12J T22J
Force displacement relation: T22J k J 2J
T12J k J 2J
T12J k11J k12J 0 k12J J k J J
J J J J
J 2 2

T22 k21 k22 2 k22 J
k

k1J2 k J
J
k22 k J
k11J k12J k J k J
J J

21 22 k J
k k k J

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 Continuity (conpatibility) conditions:
1 11
T1J k11J k12J 1J k J k J 1J 2 21 12 Equilibrium of nodal torque:
J J J J

2 21 22 2 k J
T k k k J 2J 3 22 13 T1 T11
4 23 T2 T21 T12
T11 k111 k121 11 k1 k1 1 T3 T22 T13
1 1 1 1

T2 k21 k22 2 k1 k1 2 T4 T23
T12 k112 k122 12 k2 k2 2
2 2 2 2

2 21 22 2 k2 k2 3
T k k
T13 k113 k123 13 k3 k3 3
3 3 3 3

2 21 22 2 k3
T k k k3 4

T1 T11 k1 k1 0 0 1
T 1 2 k k k k2 0 2
2 T T1 1 1 2
2

T3 T22 T13 0 k2 k 2 k3 k3 3

4
T T 2
3
0 0 k3 k3 4

6
Example :
Given T2 (external torque), T3 0 Continuity (conpatibility) conditions:
1 0, 4 0 ~ fixed boundary conditions 1 11
T1 , T4 ,2 ,3 ~ unknown to be calculated 2 21 12 Equilibrium of nodal torque:
T1 k1 k1 0 0 1 0 T1 T11
T k k k 3 22 13
2 1 1 2 k2 0 2
T2 T21 T12
T3 0 0 k2 k 2 k3 k3 3 4 23

T4 0 0 k3 k3 4 0 T3 T22 T13

T4 T23
k1 k2 2 k23 T2 (1)
k2
k2 2 k2 k3 3 0 3 (2)
k 2 k3 2
T1 k1 2 (3)
T4 k33 (4)
Sub. (2) into (1),
k2
k1 k2 2 k2 T
k 2 k3 2 2

2
k 2 k3 T
k2 k3 k22
2 2

k2 k2
3 2 T2 ;
k 2 k3 k2 k3 k22
2

k1 k2 k3
T1 k1 2 T2
k 2 k3 k22
2

k 2 k3
T4 k3 3 T2
k 2 k3 k22
2
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