TRUSSES ANALYSIS

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Fundamentals of the Stiffness Method

Member Local Stiffness Matrix
Displacement and Force Transformation Matrices
Member Global Stiffness Matrix
Application of the Stiffness Method for Truss
Analysis
Trusses Having Inclined Supports, Thermal Changes
and Fabrication Errors
Space-Truss Analysis

2-Dimension Trusses

Fundamentals of the Stiffness Method

y
x
4
3

(x2, y2)

(x3, y3)

1
(x1, y1)

Node and Member Identification

6
5

8
4

7
(x4, y4)

Global and Member Coordinates

Degrees of Freedom
Known degrees of freedom D3, D4, D5, D6, D7 and D8
Unknown degrees of freedom D1 and D2

Member Local Stiffness Matrix

x
y

qj

qi

q 'i =

q' j =

x
y
d i

=1

AE/L

x ddi i

AE/L
d j =

AE/L

AE
AE
d 'i
d'j
L
L

AE/L

AE
AE
d 'i +
d'j
L
L

q 'i AE 1 1 d 'i
q ' =
d '

L 1 1 j
j
[q] = [k][d] ----------(1)

x
xd
dj j

AE 1 1
[k ' ] =
L 1 1

Displacement and Force Transformation Matrices

(xj,yj)
x

(xi,yi)
x = cos x =
y = cos y =

x j xi
L
y j yi
L

=
=

x j xi
( x j xi ) 2 + ( y j yi ) 2
y j yi
( x j xi ) 2 + ( y j yi ) 2

 Displacement Transformation Matrices

y
djy

x
dj

y
j

diy
i

di

Local

y m
x

djx
x

dix

Global

d 'i = d ix cos x + d iy cos y

d ' j = d jx cos x + d jy cos y

d 'i x
d ' = 0
j

[d] = [T][d]

d ix
0 d iy

y d jx

d
jy
----------(2)

x
[T ] =
0

0
y

 Force Transformation Matrices

qjy

y
qiy

qix

qjx

qiy = q 'i cos y

q jx = q ' j cos x
q jy = q ' j cos y

x
qi

Local

x
y

Global
qix = q 'i cos x

x
qj

q ix x
q
iy = y
q jx 0

q jy 0

0
0 q 'i
x q ' j

[q] = [T]T[q]

where
x

y
T
[T ] =
0

0
0
x

----------(3)

Member Global Stiffness Matrix

----------(3)

[q] = [T]T[q]

Substitute ( [q] = [k][d] + [qF] ) into Eq. 3, yields the result,

[ q ] = [ T ]T ([k][d] + [qF] ) = [ T ]T [ k ][T][d] + [ T ]T [qF] = [k][d] + [qF]
[ k ] = [ T ]T[ k ][T]

[k]

[qF] = [ T ]T [qF]

[ k] =

x
y
0
0

x
y

AE
L

-1

-1

xx

xy

xx

xy

AE V yx
L U
x x

yy

yx

yy

xy

xx

xy

V yx

yy

yx

yy

U
[k] =

0
0

Application of the Stiffness Method for Truss Analysis

Equilibrium Equation:
[Qa] = [K][D] + [QF]
Partitioned Form:
Joint Load
Qk

Qu

Unknown Displacement
K11

K12

Du

K21

K22

Dk

Reaction

QFk
QFu

Boundary Condition

[Qk] = [K11][Du] + [K12][Dk] + [QF]

[Du] = [Ku]

-1

(([Qk] - [QF]) -

[K12][Dk])

Member Forces

x
qj

y
y

x
qi

q 'i AE 1 1 d 'i q ' F i

q ' =
d ' + F

L 1 1 j q ' j
j
x
0

q 'i AE 1 1 x
q ' =
0

L 1 1
j

d ix
0 d iy

y d jx

d
jy

Dix
0 Diy q 'F i
+

y D jx q'F j

D jy

10

q 'i AE x
q ' =

L
x
j

y
y

Dix
y Diy q ' F i
+

y D jx q' F j

D jy
Dxi

qj = AE
L

x y

x
qj

y
y

x
qi

Dyi
Dxj

qj F

Dyj

Member Forces

11

Member Forces
Dxi
qm = AE
L

x y

y
x
qm

y
y

Dyi
Dxj

qjF

Dyj

Member Forces

12

Example 1
For the truss shown, use the stiffness method to:
(a) Determine the deflections of the loaded joint.
(b) Determine the end forces of each member and reactions at supports.
Assume EA to be the same for each member.
5m

3m

50 kN
3m

5m

5m

80 kN
4m

4m

13

5m

3m

(-4,3)

50 kN
3m

80 kN
4m

(-4,-3)
4m

Ui
[ k ]m =

Vi

4
3

(0,0)

1
3

8
4

( x j xi )i ( y j yi ) j

ij =
+
L
L

cosx = x

5m

5m

Ui

cosy = y
Uj

Vj

xx xy xx xy

Member

7
(4,-3)

#1

-4/5 = -0.8 -3/5 = -0.6

#2

-4/5 = -0.8

3/5 = 0.6

#3

4/5 = 0.8

-3/5 = -0.6

AE Vi yx yy yx yy
L U
j
x x
x y
x x
x y
Vj yx yy

yx yy

14

Member x

[ k ]1 =

AE 2
5 3

0.48 0.36 -0.48 -0.36

-0.64 -0.48 0.64 0.48

1
1

0.64

0.48

0.36

#2

- 0.8 0.6

0.64

-0.48

0.36

#3

0.8

0.64

-0.48

0.36

-0.6

1
[ k ]2 =

AE 2 -0.48
5 5 -0.64
6

0.48 0.36
7

0.36 0.48 -0.36

0.48 0.64 -0.48

0.48 -0.36 -0.48

0.36

8
1

0.36 0.48 -0.36

0.48 0.64 -0.48

0.48 -0.36 -0.48

0.64 -0.48 -0.64 0.48

0.64 -0.48 -0.64 0.48

AE 2 -0.48
[ k ]3 =
5 7 -0.64
8

y2

-0.8 -0.6

0.64 0.48 -0.64 -0.48

-0.48 -0.36

x y

#1

x2

0.36

[K] =

AE
5 2

1.92

-0.48

-0.48

1.08

15

5m

3m

Global

5
2

50 kN
3m

5m

5m

80 kN
4m

4m

Q1 = -50
Q2 = -80

AE
5 2

D1
D2

1.92

-0.48

D1

-0.48

1.08

D2

-250.65/AE

-481.77/AE

16

Local

[ q ' F ]m =

4
3

8
4

#1

-0.8

-0.6

#2

-0.8

0.6

#3

0.8

-0.6

Member

AE
x
L

Dxi
D
yi
x + q'F
Dxj

D yj

[ ]

7
[qF]1 = AE
5

0.8

0.6

-0.8

-0.6

D4= 0.0

= -97.9 kN (C)

[qF]2 = AE
5

0.8

-0.6

-0.8

0.6

17.7 kN
50 kN

36.87o

97.9 kN 80 kN

AE
5

-0.8 +0.6

= -17.7 kN (C)

D1= -250.65/AE
D2= -481.77/AE
D5= 0.0
D6= 0.0

= +17.7 kN (T)

17.7 kN [q ] =
F 3

D1= -250.65/AE
D2= -481.77/AE
D3= 0.0

+0.8 -0.6

D1= -250.65/AE
D2= -481.77/AE
D7= 0.0
D8= 0.0

17

6
5

17.7 kN

4
3

50 kN

1
3

36.89o

8
4

Member

#1

-0.8

-0.6

#2

-0.8

0.6

#3

0.8

-0.6

7
Check :

17.7 kN

97.9 kN 80 kN

+ F = 0: 17.7 + 17.7 +50cos 36.89

x
- 97.9cos73.78 - 80cos53.11 = 0, O.K
17.7(0.6)=10.62 kN
17.7(0.8)=14.16 kN
50 kN
97.9(0.6)=58.74 kN
80 kN
97.9(0.8)=78.32 kN

17.7(0.6)=10.62 kN
17.7(0.8)=14.16 kN

18

Example 2
For the truss shown, use the stiffness method to:
(b) Determine the end forces of each member and reactions at supports.
(a) Determine the deflections of the loaded joint.
The support B settles downward 2.5 mm. Temperature in member BD
increase 20 oC. Take = 12x10-6 /oC, AE = 8(103) kN.
8 kN
D

4 kN

A
oC

3m

0
+2

B
B = 2.5 mm

C
4m

19

8 kN

4 kN

(-4,0)

oC

3m

0
+2

4m

B = 2.5 mm

ij =

( x j xi )i
L

( y j yi ) j
L

cosy = y

cosx = x
Ui
Ui
[ k ]m =

Vi

Uj

1
(0,0)
3

6
C

(-4,-3)

7
(0,-3)

Member

#1

-4/4 = -1

#2

-4/5 = -0.8

-3/5 = -0.6

#3

-3/3 = -1

Vj

xx xy xx xy

AE Vi yx yy yx yy
L U
j
x x
x y
x x
x y
Vj yx yy

yx yy

20

4
3

1
(0,0)

(-4,0)
2

(-4,-3)

[k]1 = 8x103

0.25

-0.25

3 -0.25

0.25

[k]3 =

8x103

x y/L

y2/L

-1

0.25

0.128

0.096

0.072

0.333

#3

7
(0,-3)

x2/L

#2

#1

Member x

-1
1

1 0.128 0.096 -0.128 -0.096

[k]2 = 8x103

2 0.096 0.072 -0.096 -0.072

5 -0.128 -0.096 0.128 0.096
6 -0.096 -0.072 0.096 0.072

0.333

0 -0.333

0.333

- 0.8 -0.6

0 -0.333

[K] =

8x103

0.378 0.096

0.096 0.405

21

Member 2: [q] = [k]m[d] + [qF]

4
2
1
3
1
2
1
(0,0)
(-4,0)
2

0o C
2
+

6
(-4,-3)

q5

= 8x103

q6
q1
q2
q1
q2

= 8x103
= 8x103

1.536 kN

+20oC

+20oC

1.536 kN

7 1.92 k =(T1)AE
-6
3
(0,-3) = (12x10 )(20)(8x10 )

B = 2.5 mm
q2

q1

1.152 kN

1.92 kN

0.128 0.096 -0.128 -0.096

d1

0.096 0.072 -0.096 -0.072

d2

-0.128 -0.096 0.128 0.096

-0.096 -0.072 0.096 0.072

1
2

0.128 0.096

d1

0.096 0.072

d2

0.128 0.096

d1

0.096 0.072

d2

1.152 kN

+ 8x103

-1.536 1

d5 = 0

d6 = -2.5x10-3
5
6
-0.128 -0.096

-1.152 2
1.536 5
1.152 6
5

-3
-0.096 -0.072 -2.5x10 6

1.92
1.44

-1.536 1
-1.152 2
-1.536 1
-1.152222

8 kN
D

4
4 kN

(-4,0)
2

oC

3m

0
+2

B = 2.5 mm

4m

1
(0,0)
3

6
C

(-4,-3)

7
(0,-3)

[Q] = [K][D] + [QF]

Global:

Q1 = -4
Q2 = -8
D1
D2

8x103

0.378 0.096

D1

0.096 0.405

D2

-0.8514x10-3

-2.356x10-3

1.92
1.44

-1.536
-1.152

23

4
3

[ q ' F ]m =

AE
x
L

Dxi
D
yi
x + q'F
Dxj

D yj

Local

#1

-1

#2

- 0.8

-0.6

#3

-1
1.92 kN

[qF]1 =

8x103

1.0 0.0 -1.0 0.0

= -1.70 kN (C)

1.92 kN

D2= -2.356x10-3
D3= 0.0
D4= 0.0
D1= -0.8514x10-3

[qF]2 =

8x103

0.8

0.6 -0.8 -0.6

= -2.87 kN (C)

+20oC

[ ]

D1= -0.8514x10-3

Member

[qF]3 = 8x103 0.0 1.0 0.0 -1.0

3
= -6.28 kN (C)

D2= -2.356x10-3 + -1.92

D5= 0.0
D6= -0.0025
D1= -0.8514x10-3
D2= -2.356x10-3
D7= 0.0
D8= 0.0

24

4
3

1
3

6
5

8
4

Member

cosx

cosy

[q]m

#1

-1

-1.70

#2

- 0.8

-0.6

-2.87

#3

-1

-6.28

8 kN
8 kN
1.70 kN

2.87 kN

4 kN

4 kN

1.70 kN
2

2.87(0.8) = 2.30 kN
6.28 kN
2.87(0.6) = 1.72 kN

6.28 kN

25

Example 3
For the truss shown, use the stiffness method to:
(a) Determine the end forces of each member and reactions at supports.
(b) Determine the displacement of the loaded joint.
Take AE = 8(103) kN.
8 kN
4 kN

AD

=+

= - 4 mm

3m

m
m
3

B
4m

4m

26

8 kN
4 kN

AD

=+

m
m
3

= - 4 mm

3m

4
C

B
4m

( x j xi )i ( y j yi ) j

+
ij =
L
L

cosx = x
Ui
[ k ]m =

Vi

(0,-3)

7
(4,-3)

Member

#1

-4/5 =-0.8

-3/5 = -0.6

cosy = y

#2

-3/3 = -1

Vj

#3

4/5 = 0.8

-3/5 = -0.6

#4

4/4 = 1

#5

4/4 = 1

Uj

xx xy xx xy

AE Vi yx yy yx yy
L U
j
x x
x y
x x
x y
Vj yx yy

(-4,-3)

4m

Ui

(0,0)
1

yx yy

27

2
1
2

4
2

3
(-4,-3)

5m

3m

5 m3

6
5

4m

(0,-3) 4 m
1

[k]1 = 8x103

[k]2 = 8x103

#1

-0.8

-0.6

#2

-1

#3

0.8

-0.6

Member

(0,0)
1

x2/L xy/L y2/L

0.128 0.096
0

0.072
0.333

0.128 -0.096 0.072

7
(4,-3)
4

0.128 0.096 -0.128 -0.096

0.096 0.072 -0.096 -0.072

-0.128 -0.096 0.128 0.096

-0.096 -0.072 0.096 0.072

[k]3 = 8x103

0 0.333

0 -0.333

0 -0.333

0.333

0.128 -0.096 -0.128 0.096

-0.096 0.072 0.096 -0.072

-0.128 0.096 0.128 -0.096

0.096 -0.072 -0.096 0.072

28

2
1
2

4
2

3
(-4,-3)

5m

3m

4m

[k]4= 8x103

5 m3

x2/L xy/L y2/L

#4

0.25

#5

0.25

0.25

-0.25

-0.25

0.25

Member

(0,0)
1

(0,-3) 4 m

8
7
(4,-3)
6

0.25

-0.25

-0.25

0.25

0
1

Global Stiffness Matrix

[k]5= 8x103

[K] = 8x103

2
5
7

29

Global Stiffness Matrix

1

[k]1 = 8x103

[k]2 = 8x103

0.128 0.096 -0.128 -0.096

0.096 0.072 -0.096 -0.072

-0.128 -0.096 0.128 0.096

-0.096 -0.072 0.096 0.072

2

0 0.333

0 -0.333

0 -0.333

0.333

0.25

-0.25

-0.25

0.25

[k]5= 8x103

0.128 -0.096 -0.128 0.096

7 -0.128 0.096 0.128

[K]
=
8x103
-0.096

0.096 -0.072 -0.096 0.072

0.25

-0.25

-0.25

0.25

2 -0.096 0.072 0.096 -0.072

8

[k]4= 8x103

[k]3 = 8x103

1
2
5

0.256

0.0

0.0 -0.128

0.0 0.477 0.0 0.096

0.0
0.0 0.50 -0.25

7 -0.128 0.096 -0.25 0.378

30

8 kN
4 kN

AD

=+

1
1

AD

4.8 kN

=+

m
m
3

AE/L = 10.67 kN

AE/L = 4.8 kN
3.84 kN

= -4 mm

3.84 kN

8
7

4m

2.88 kN
1

6
3

B
4m

D
= - 4 mm

3m

m
m
3

Global Fixed end forces

Fixed End

10.67 kN

-3.84

-2.88 + 10.67 = 7.79 2

5
0.0
7
0.0

2.88 kN

31

8 kN
4 kN

AD

=+

= -4 mm

3m

m
m
3

4m

6
3

Global:

8
7

4m

[Q] = [K][D] + [QF]

Q1 = 4
Q2 = -8
Q5 = 0

Q7 = 0
D1
D2
D5
D7

8x103

2
5

0.256

0.0

0.0 -0.128

0.0 0.477 0.0

0.0 0.50
0.0

0.096
-0.25

D2
D5

7 -0.128 0.096 -0.25

0.378

D7

6.4426x10-3
-5.1902x10-3
2.6144x10-3
5.2288x10-3

m
m
m
m

-3.84

D1

7.79
0.0
0.0

32

Member forces

2
1
2

[ q ' F ]m =

6.4426x10-3

D1
D2
D5
D7

AD
4.8 kN

=+

m
m
m
m

-5.1902x10-3
2.6144x10-3
5.2288x10-3
4.8 kN

m
m
3

AE
x
L

Member

ix

iy

#1

-0.8

-0.6

#2

-1

Dxi
D
yi
x + q'F
Dxj

D yj

D1
[qF]1 = 8x103 0.8 0.6 -0.8 -0.6
5
= -1.54 kN (C)

10.67 kN
2

10.67 kN

[ ]

D2
0

+ -4.8

0
D1

[qF]2 = 8x103 0.0 1.0 0.0 -1.0

3
= -3.17 kN (C)

D2
D5

+ 10.67

33

2
1

[ q ' F ]m =

6
3

D1
D2
D5
D7

7
m
m
m
m

Member

#3
#4

0.8
1

-0.6
0

#5

[ ]

6.4426x10-3
-5.1902x10-3
2.6144x10-3
5.2288x10-3

AE
x
L

Dxi
D
yi
x + q'F
Dxj

D yj

D1
[qF]3 = 8x103 -0.8 0.6 0.8 -0.6
5
= -6.54 kN (C)

D2
D7
0
0

[qF]4 = 8x103 -1.0 0.0 1.0 0.0

4
= 5.23 kN (T)

0
D5
0
D5

[qF]5 = 8x103 -1.0 0.0 1.0 0.0

4
= 5.23 kN (T)

0
D7
0

34

Member

[q]

#1

-0.8

-0.6

-1.54

#2

-1

-3.17

#3
#4

0.8
1

-0.6
0

-6.54
5.23

#5

5.23

1
2

6
3

4 kN

1.54 kN
1.54 kN
5.23 kN

8 kN
4 kN

3.17 kN
3.17 kN

8 kN

6.54 kN
4 kN

6.54 kN
5.23 kN

0.92 kN

3.17 kN

3.92 kN

35

Special Trusses (Inclined roller supports)

36

Transformation Matrices
2
1

[ q* ] = [ T ]T[ q ]

4*

3*
y
y*

i
3*

2
j

4*

jx = cos j
1

q1

q2

ix
iy

0
0

jx
jy

0
0

jy = sin j
x
[ T ] = [[

ix = cos i

T ]T]T

qi
qj
[T]T

ix

iy

jx

jy

iy = sin i
x*

qj
1

qi

q*3
q*4

37

[ k ] = [ T ]T[ k ][T]

[ k ]m =

ix
iy
0
0

0
0

jx
jy
Ui

Ui
[ k ]m =

ixix

AE
L

-1

ix

iy

-1

jx

jy

Vi

Uj

Vj

ixiy ixjx ixjy

AE Vi iyix iyiy iyjx iyjy

L U
jxjx jxjy
j
jx ix
jx iy
Vj jyix jyiy

jyjx

jyjy

38

Example 5
For the truss shown, use the stiffness method to:
(b) Determine the end forces of each member and reactions at supports.
(a) Determine the displacement of the loaded joint.
AE is constant.

30 kN
3m

45o
4m

39

Member 1:
1

3m

4*

6
5

i = 0,
5
ix = cos 0 = 1,
iy = sin 0 = 0

3*
45o

4m

4*

qi

3* o
45
o
o
[q*] ij = -45 = 135 ,
ix = cos (-45o) = 0.707,
iy = sin(- 45o) = -0.707
1

qj

[q*] = [T*]T[q] + [T*]T[qF]

q5
q6
q3*
q4*

1
0
0
0

0
0
0.707
-0.707

qi
qj
[T*]T

40

Member 1:
1

3m

4*

6
1

i = 0 ;
5
ix = cos 0 = 1,
iy = sin 0 = 0

3*
45o

4m

[k*]1

qj

0
0
0.707
-0.707
5

[k*]1

3* o
45
o
o
[q*] ij = -45 = 135 ,
ix = cos (-45o) = 0.707,
iy = sin(- 45o) = -0.707
1

qi

AE 1 1
[k *] = [T T ]
[T ]

L 1 1

1
0
0
0

4*

5
0.25
6
0
AE
3* -0.1768
4* 0.1768

AE
4

1
-1

-1
1

0.707

-0.707

3*

4*

0
0
0
0

-0.1768
0
0.125
-0.125

0.1768
0
-0.125
0.125

41

Member 2:
2

1
3m

4*

[k *] = [T T ]

3*
4*

45o

4m
AE 1 1
[T ]

L 1 1

[k*]2

[k*]2

0
-1
0
0
1
2
AE
3*
4*

0
0
-0.707
-0.707

AE
3

i
2

o
o
1 i = -90 = 270 ,
90o ix = cos(-90o) = 0,
2
iy = sin(-90o) = -1

qi

3*
j
90o+45o j = -135o = 215o ,
=135o ix = cos (-135o) = -0.707,
iy = sin(- 135o) = -0.707

1
-1

-1
1

-1

3*

4*

0
0
0
0

0
0.3333
-0.2357
-0.2357

0
-0.2357
0.1667
0.1667

0
-0.2357
0.1667
0.1667

qj

-0.707 -0.707

42

Member 3:
1

3m

4*

[k ] = [T T ]

3*
45o

4m
AE 1 1
[T ]

L 1 1

[k]3

[k]3

0.8
0.6
0
0

36.87o

36.87o

5
qi
i = j = 36.87o ;
ix = jx = cos (36.87o) = 0.8,
iy = jy = sin(36.87o) = 0.6

0
0
0.8
0.6

AE
5

0.096
0.072
-0.096
-0.072

-0.128
-0.096
0.128
0.096

-0.096
-0.072
0.096
0.072

5 0.128
6 0.096
AE
1 -0.128
2 -0.096

qj

1
-1

-1
1

0.8

0.6

0.8

0.6

43

Global Stiffness:
1

3m

4*

3*

[k*]2

45o

4m

1
2
AE
3*
4*

[k*]1

5
0.25
6
0
AE
3* -0.1768
4* 0.1768

3*

4*

0
0
0
0

0
0.3333
-0.2357
-0.2357

0
-0.2357
0.1667
0.1667

0
-0.2357
0.1667
0.1667

[k]3

5 0.128
6 0.096
AE
1 -0.128
2 -0.096

0.096
0.072
-0.096
-0.072

-0.128
-0.096
0.128
0.096

-0.096
-0.072
0.096
0.072

3*

4*

0
0
0
0

-0.1768
0
0.125
-0.125

0.1768
0
-0.125
0.125

[K]

3*

1 0.128 0.096
0
2 0.096 0.4053 -0.2357
AE
3* 0
-0.2357 0.2917

44

Global :

30 kN
3m

3m

4*

6
1

45o
4m

3*
45o

4m

[Q] = [K][D] + [QF]

1

Q1 = 30
Q2 = 0
Q3*= 0

D1
D2
D3*

3*

1 0.128 0.096
0
AE 2 0.096 0.4053 -0.2357
3* 0
-0.2357 0.2917

1
AE

D1
D2
D3*

352.5
-157.5
-127.3

45

Member Forces :

Dxi
D
yi
x + q'F
Dxj

D yj

1
3m

4*

6
1

[ q ' F ]m =

1
AE

352.5
-157.5
-127.3

0.707 -0.707

#2

-1

-0.707 -0.707

0.6

jx

0.8

0
D3*
0
D1

#1

0.8

0
[qF]1 = AE -1 0 0.707 -0.707
4
= -22.50 kN, (C)

iy

#3

[ ]

45o

ix

Member

3*

4m

D1
D2
D3*

AE
x
L

jy

0.6

[qF]2 = AE 0 1 -0.707
3
= -22.50 kN, (C)

-0.707

D2
D3*
0
0

[qF]3 = AE -0.8 -0.6

5
= 37.50 kN, (T)

0.8

0.6

0
D1
D2

46

Reactions :

30 kN
3m

3m

4*

6
1

45o
4m
Member

[q]1

Member Force (kN) -22.50

[q]2

[q]3

-22.50

37.50

4m

3*
45o

22.50 kN
37.50 kN
45o

36.87o
22.50 kN

7.50 kN

45o

31.82 kN
22.50 kN

47

Example 6
For the truss shown, use the stiffness method to:
(b) Determine the end forces of each member and reactions at supports.
(a) Determine the displacement of the loaded joint.
AE is constant.
30 kN

3m

45o
4m

4m

48

Member 1:

3m

8
1

i = 0o,
5
ix = cos 0o = 1,
iy = sin 0o = 0

4* 3*
1

4m

4*

4m

qi

o
[q*] ij = -45
ix = cos (-45o) = 0.707,
iy = sin(- 45o) = -0.707

qj

3* o
45

[q*] = [T*]T[q] + [T*]T[qF]

q5
q6
q3*
q4*

1
0
0
0

0
0
0.707
-0.707

qi
qj
[T*]T

49

Member 1:

3m

8
1

6
1

4m

4m

[k*]1

qj

0
0
0.707
-0.707
5

[k*]1

3* o
45
o
o
[q*] ij = -45 = 315 ,
ix = cos (-45o) = 0.707,
iy = sin(- 45o) = -0.707
1

qi

AE 1 1
[k *] = [T T ]
[T ]

L 1 1

1
0
0
0

4*

i = 0o,
5
ix = cos 0o = 1,
iy = sin 0o = 0

4* 3*
5

5
0.25
6
0
AE
3* -0.1768
4* 0.1768

AE
4

1
-1

-1
1

0.707

-0.707

3*

4*

0
0
0
0

-0.1768
0
0.125
-0.125

0.1768
0
-0.125
0.125

50

Member 2:

3m

8
1

o
1 i = -90 ,
90o ix = cos(-90o) = 0,
2
iy = sin(-90o) = -1

4* 3*
4m

[k *] = [T T ]

4*

4m

AE 1 1
[T ]

L 1 1

[k*]2

[k*]2

0
-1
0
0
1
2
AE
3*
4*

0
0
-0.707
-0.707

AE
3

i
2

qi

3*
j
90o+45o j = -135o = 215o,
qj
o
=135o
ix = cos (-135 ) = -0.707,
iy = sin(- 135o) = -0.707

1
-1

-1
1

-1

3*

4*

0
0
0
0

0
0.3333
-0.2357
-0.2357

0
-0.2357
0.1667
0.1667

0
-0.2357
0.1667
0.1667

-0.707 -0.707

51

Member 3:

3m

8
1

2
7

4* 3*
4m

[k *] = [T T ]

AE 1 1
[T ]

L 1 1

[k]3

[k]3

0
0
0.8
0.6

AE
5

0.096
0.072
-0.096
-0.072

-0.128
-0.096
0.128
0.096

-0.096
-0.072
0.096
0.072

5 0.128
6 0.096
AE
1 -0.128
2 -0.096

qj

5
qi
i = j = 36.87o ;
ix = jx = cos (36.87o) = 0.8,
iy = jy = sin(36.87o) = 0.6

4m

0.8
0.6
0
0

j
3

36.87o

36.87o

1
-1

-1
1

0.8

0.6

0.8

0.6

52

Member 4:

3m

8
1

4m

4m

AE 1 1
[k *] = [T T ]
[T ]

L 1 1

[k]4

1
0
0
0
1
2
AE
7
8

[q]
i = ij = 0o; ix = jx = cos 0o = 1,
iy = jy = sin 0o = 0
qi
qj

[k]1

8
1

4* 3*
5

2
4

0
0
1
0

AE
4

0.25
0
-0.25
0

0
0
0
0

-0.25
0
0.25
0

0
0
0
0

1
-1

-1
1

53

Member 5:

3m

8
1

8.13o
4* 3*

4* 3*

36.87o
.8 ,
0
o; 7 o) =
.6
7
7
0
8
8
.
.
= 5
5 = 36 s (36 7o )
j = co (36.8
jx = sin

4m

[k *] = [T T ]

4m

AE 1 1
[T ]

L 1 1

[k*]5

0.9899
-0.1414
0
0

0
0
0.8
0.6
3*

[k*]5

3*
4*
AE
7
8

qj

jy

qi
i = - 8.13o;
ix = cos (- 8.13o) = 0.9899,
iy = sin(- 8.13o) = -0.1414

AE
5
4*

-1 0.9899 -0.1414 0 0
1
0
0
0.8 0.6

1
-1
7

0.196
-0.028 -0.1584 -0.1188
-0.028
0.004 0.02263 0.01697
-0.1584 0.02263 0.128
0.096
-0.1188 0.01697 0.096
0.072

54

Global Stiffness:

1
2

3m

[k*]3

4* 3*

5
6
AE
1
2

0.128
0.096
-0.128
-0.096

0.096
0.072
-0.096
-0.072

-0.128
-0.096
0.128
0.096

-0.096
-0.072
0.096
0.072

4m

4m
5

[k*]1

5 0.25
6
0
AE
3* -0.1768
4* 0.1768

3*

4*

0
0
0
0

-0.1768
0
0.125
-0.125

0.1768
0
-0.125
0.125
[k*]5

[k*]2

1
2
AE
3*
4*

3*

0
0
0
0

0
0.3333
-0.2357
-0.2357

0
-0.2357
0.1667
0.1667

4*

[k]4

1 0.25
2
0
AE
7 -0.25
8
0
3*

4*

0
0
0
0

-0.25
0
0.25
0

0
0
0
0

3* 0.196 -0.028 -0.1584 -0.1188

4* -0.028 0.004 0.02263 0.01697
AE
0.096
7 -0.1584 0.02263 0.128
0.072
8 -0.1188 0.01697 0.096
1
2
3*

0
-0.2357
0.1667
0.1667 [K]

1 0.378 0.096
0
2 0.096 0.4053 -0.2357
AE
3* 0
-0.2357 0.4877

55

Global :

30 kN

8
1

3m

4* 3*
1

4m

4m

[Q] = [K][D] + [QF]

1

Q1 = 30
Q2 = 0
Q3*= 0

D1
D2
D3*

3*

1 0.378 0.096
0
AE
2 0.096 0.4053 -0.2357
3* 0
-0.2357 0.4877

1
AE

D1
D2
D3*

86.612
-28.535
-13.791

56

Member Forces :

3m

8
1

[ q ' F ]m =

AE
x
L

Dxi
D
yi
x + q'F
Dxj

D yj

4* 3*
1

D1
D2
D3*

4m

1
AE

4m
[qF]1 = AE -1 0 0.707 -0.707
4
= -2.44 kN, (C)

86.612
-28.535
-13.791

0
D3*
0
D1

ix

iy

#1

0.707 -0.707

#2

-1

-0.707 -0.707

#3

0.8

0.6

Member

[ ]

jx

0.8

jy

0.6

[qF]2 = AE 0 1 -0.707
3
= -6.26 kN, (C)

-0.707

D2
D3*
0
0

[qF]3 = AE -0.8 -0.6

5
= 10.43 kN, (T)

0.8

0.6

0
D1
D2

57

Member Forces :

3m

8
1

[ q ' F ]m =

AE
x
L

4* 3*
1

D1
D2
D3*

Member
#4
#5

4m

1
AE

Dxi
D
yi
x + q'F
Dxj

D yj

[ ]

D1

4m
0
[qF]4 = AE -1
4
= -21.65 kN, (C)

86.612
-28.535
-13.791

D2
0
0
D3*

ix

iy

jx

jy

0.8

0.6

0.9899 -0.141

[qF]5 = AE -0.9899 0.141 0.8 0.6

5
= 2.73 kN, (T)

0
0
0

58

Reactions :

30 kN

8
1

3m

4* 3*
1

4m

4m

Member

[q]1

[q]2

[q]3

[q]4

[q]5

Member Force (kN) -2.44

-6.26

10.43

-21.65

2.73

21.65 kN
36.87o
10.43 kN
5.90 kN

36.87o
2.44 kN
6.26 kN

6.26 kN
45o

45o
2.44 kN

1.64 kN
19.47 kN

2.73 kN
81.87o
6.54 kN

59

Example 7
For the truss shown, use the stiffness method to:
(b) Determine the end forces of each member and reactions at supports.
(a) Determine the displacement of the loaded joint.
Take AE = 8(103) kN.
8 kN
4 kN

Ui

D
Ui

3m

[ k *]m =
A

B
36.87o
4m

ixix

Vi

Uj

Vj

ixiy ixjx ixjy

AE Vi iyix iyiy iyjx iyjy

L U
jxjx jxjy
j
jx ix
jx iy
Vj jyix jyiy

jyjx

jyjy

4m

60

8 kN
4 kN

1
1

3m
4m

4m

4*

3*

8
7

36.87o
Member 1:

jx = cos 36.87o = 0.8,

jy = sin 36.87o = 0.6

y
y*

4*
i

2
j

36.87o
1
x
1

73.74o
3*

qj

x*

qi

ix = cos 73.74o = 0.28,

iy = sin 73.74o = 0.96

[q*] = [T*]T[q] + [T*]T[qF]

q3*
q4*
q1
q2

0.28
0.96
0
0

0
0
0.8
0.6

qi
qj
[T*]T

61

8 kN
4 kN

3m
A

4*
4m

4m

36.87o

3*

AE 1 1
[k ] = [T ]
[T ]
L 1 1
T

[k]1

0.28
0.96
0
0

0
0
0.8
0.6
3*

[k]1

3*
4*
3
8x10
1
2

0.01568
0.05376
-0.0448
-0.0336

8x103
5
4*

1
-1

-1
1
1

0.28

0.96

0.8

0.6

0.05376 -0.0448 -0.0336

0.18432 -0.1536 -0.1152
0.128 0.096
-0.1536
-0.1152
0.096 0.072

62

8 kN
4 kN

1
3

3m

4*

4m

4m

B
36.87o

3*
[q*] = [T*]T[q] + [T*]T[qF]

Member 2:
y

y*

4*

3*

36.87 j

x*
ix = cos 36.87o = 0.8,
iy = sin 36.87o = 0.6

qi

x
jx = cos 0o = 1,
jy = sin 0o = 0

qj

[k]2

q3*
q4*
q5
q6

0.8
0.6
0
0

0
0
1
0

qi
qj
[T*]T

-1 [T]
[k] = [TT] AE 1
1
L -1
3*
4*
5

3* 0.16
4* 0.12
3
8x10
5 -0.2
0
6

0
0
0
0

0.12
0.09
-0.15
0

-0.2
-0.15
0.25
0

63

8 kN
4 kN

1
3

3m

4*

4m

4m
B

3*

36.87o
Member 3:
y
2
o
270
3

x = cos 270o = 0,
y = sin 270o = -1
1

Member 4:

x = cos 323.13o = 0.8,

y = sin 323.13o = -0.6
x

323.13o

[k]3

= 8x103

1
2
5
6

1
2
0
0
0 0.333
0
0
0 -0.333

6
5
0
0
0 -0.333
0
0
0 0.333

[k]4

= 8x103

1
2
7
8

1
0.128
-0.096
-0.128
0.096

2
-0.096
0.072
0.096
-0.072

7
-0.128
0.096
0.128
-0.096

8
0.096
-0.072
-0.096
0.072

64

8 kN
4 kN

1
3

3m

4*

4m

4m

36.87o

Member 5:

3*

8
7

8
5

x = cos 0o = 1,
y = sin 0o = 0

[k]5

5
6
8x103
7
8

0.25
0
-0.25
0

0
0
0
0

-0.25
0
0.25
0

8
0
0
0
0

65

2
1

1
3

[k]1

4*

4*
0.12
0.09
-0.15
0
2
-0.096
0.072
0.096
-0.072

[K] =

2
4*
1
0.05376 -0.0448 -0.0336
0.18432 -0.1536 -0.1152
0.128 0.096
-0.1536
-0.1152
0.096 0.072

3*
3*
3* 0.16
4* 0.12
3
[k]2 = 8x10
5 -0.2
6
0
1
1 0.128
[k]4 = 8x103 2 -0.096
7 -0.128
8 0.096

3*
4*
3
8x10
1
2

3*
0.01568
0.05376
-0.0448
-0.0336

5
-0.2
-0.15
0.25
0
7
-0.128
0.096
0.128
-0.096

1
2
8x103 *
3
5

6
6
1
2
5
0
0
0
0
1 0
0 -0.333
0
[k]3 = 8x103 2 0 0.333
0
0
0
5 0
0
6 0 -0.333
0 0.333
0
8
5
6
7
8
0
-0.25 0
5 0.25
0.096
0
0
0 0
-0.072
6
[k]5 = 8x103
-0.096
0
0.25 0
7 -0.25
0.072
8
0
0
0 0
5
2
3*
1
0.256
0.0
-0.0448 0
0.0
0.474 -0.0336 0
-0.0448 -0.0336 0.17568 -0.2
0
0
-0.2
0.5
66

8 kN
4 kN

1
1

3m
A

4m

4*

4m

3*

8
7

36.87o
Global:

[Q] = [K][D] + [QF]

1

Q1 = 4

Q2 = -8
Q3*= 0

Q5 = 0
D1
D2
D3*
D5

8x103

0.0

3*
-0.0448

2
0.0
0.474 -0.0336 0
3* -0.0448 -0.0336 0.17568 -0.2
0

1.988x10-3
-2.0824x10-3
1.996x10-4
7.984x10-5

m
m
m
m

0.256

-0.2

0.5

D1
D2
D3*
D5

67

8 kN
4 kN

Member forces

D
[ q ' F ]m =

3m
A

4m

4m

B
36.87o

2
1

Member

ix

iy

#1

0.28 0.96

#2

0.8

0.6

[ ]

jx

jy

0.8

0.6

0
D3*

[qF]1 = 8x103 -0.28 -0.96

8
5
7 = 0.46 kN, (T)

4*

AE
x
L

Dxi
D
yi
x + q'F
Dxj

D yj

3*

0.8 0.6

0
D1
D2
D3*

D1
D2
D3*
D5

1.988x10-3
-2.0824x10-3
1.996x10-4
7.984x10-5

m
m
m
m

[qF]2 = 8x103 -0.8

4
= -0.16 kN, (C)

-0.6

0
D5
0

68

2
1
3

[ q ' F ]m =

4*

1.988x10-3
-2.0824x10-3
1.996x10-4
7.984x10-5

m
m
m
m

ix

iy

jx

jy

#3

-1

-1

#4

0.8

-0.6

0.8

-0.6

#5

Member

3*
D1
D2
D*3
D5

AE
x
L

Dxi
D
yi
x + q'F
Dxj

D yj

[ ]

D1
[qF]3 = 8x103 0
3
= -5.55 kN

-1

D2
D5
0
D1

[qF]4 = 8x103 -0.8

5
= -4.54 kN

0.6

0.8 - 0.6

D2
0
0
D5

[qF]5 = 8x103 -1
4
= -0.16 kN

0
0
0

69

8 kN
4 kN

3m
A

4m

4m
B

4*

8
7

3*

36.87o
Member
Member Force (kN)

y*

36.87o

[q]1

[q]2

0.46 -0.16

[q]3

[q]4

[q]5

-5.55 -4.54 -0.16

4.54 kN

0.46 kN

5.55 kN
36.87o

0.16 kN

0.16 kN

3.79 kN

36.87o
5.55 kN

0.36 kN
x*

2.72 kN

70

Space-Truss Analysis

71

Member Local Stiffness [k]:

[q] = [k][d] + [qF]
= [k][T][d] + [qF]
q 'i EA 1 1 d 'i q 'iF
d ' + F
q ' =

1
1
j q ' j
j L
d ix
d
iy
d iz
EA 1 1
[T ] + q'F
=

L 1 1
d jx
d jy

d jz

[ ]

where,
x
0

[T ] =

y z

x y

0
z

72

Member Global Stiffness [km]:

[km]= [T]T[k] [T]
x

y
z
[km ] =
0
0

0
0
0 EA 1 1 x

x L 1 1 0
y

x y

0
z

73

Global equilibrium matrix:

[Q] = [K][D] + [QF]
Unknown Displacement

Joint Load
QI
QII
Reaction

KI,I
KII,I

KI,II

Du

KII,II

Dk

Fixed End Forces

QFI
+

QFII

Support Boundary Condition

74

qj
j

qix
qiy
qiz
qjx

qi

qjx

EA
L
x x
x y
x z
x x
x y
x z
yx yy yz yx yy yz
zx zy zz zx zy zz

dix
diy
diz
djx
djy
djz

qjz

qiy
i

qjy
qjz

qjy
j

xx xy xz xx xy xz
yx yy yz yx yy yz
zx zy zz zx zy zz

qix

q 'i EA 1 1 d 'i q 'iF

q ' =
d ' + F

1
1

j q ' j
j L

qiz

[q' ]

j m

EA
x
L

x y

d ix
d
iy
d iz
z + q' F
d jx
d jy

d jz

[ ]
75

Example 6
For the truss shown, use the stiffness method to:
(b) Determine the end forces of each member.
(a) Determine the deflections of the loaded joint.
2
Take E = 200 GPa, A = 1000 mm
z .
60 kN

80 kN

10 m
y

4m

4m

O
3m

3m

76

z
60 kN

80 kN

3
2

(0, 0, 10)
10 m

1
4

4m

4m

O
3m

3m

(-4, -3, 0)

(-4, 3, 0)
4

m = xi + yj + zk
1 = (-4/11.18)i + (3/11.18)j + (-10/11.18)k
= -0.3578 i + 0.2683 j - 0.8944 k

2 = (+4/11.18)i + (3/11.18)j + (-10/11.18)k

= +0.3578 i + 0.2683 j - 0.8944 k

3 = (+4/11.18)i + (-3/11.18)j + (-10/11.18)k

= +0.3578 i - 0.2683 j - 0.8944 k

4 = (-4/11.18)i + (-3/11.18)j + (-10/11.18)k

= -0.3578 i - 0.2683 j - 0.8944 k

Member

(4, 3, 0)
(4, -3, 0)

#1

-0.3578 +0.2683 -0.8944

#2

+0.3578 +0.2683 -0.8944

#3

+0.3578 -0.2683 -0.8944

#4

-0.3578 -0.2683 -0.8944

77

Member

#1

-0.3578 +0.2683 -0.8944

#2

+0.3578 +0.2683 -0.8944

#3
#4

+0.3578 -0.2683 -0.8944

-0.3578 -0.2683 -0.8944
1

[k11]1 =

AE
L

[k]m =

-0.096 +0.072 -0.240

+0.320 -0.240
2

[k11]3x3

[k12]3x3

[k21]3x3

[k22]3x3
1

[k11]3 =

1 +0.128 -0.096 +0.320

1
AE
[k11]2 =
L

Member Stiffness Matrix [k]6x6

AE
L

[k11]4 =

AE
L

-0.096 +0.072 +0.240

-0.320 +0.240 +0.80

+0.096 +0.072 -0.240

-0.320 -0.240

[KI,I] =

AE
L

+0.096 +0.072 +0.240

+0.320 +0.240 +0.80

1

+0.80

1 +0.128 +0.096 +0.320

1 +0.128 +0.096 -0.320

2

1 +0.128 -0.096 -0.320

+0.80

1 0.512

0.0

0.0

0.0

0.288

0.0

0.0

0.0

3.2

78

z
60 kN

80 kN

(0, 0, 10)
10 m

1
4

4m

4m

O
3m

[Q] = [K][D] + [QF]

60
-80
0.0

AE
L

1
1 0.512

3m

(-4, -3, 0)

(-4, 3, 0)

3
4

0.0

0.0

D1

0.0

0.288

0.0

D2

0.0

0.0

3.2

D3

(4, 3, 0)
(4, -3, 0)

0.0
+

0.0
0.0

79

Global equilibrium matrix:

[Q] = [K][D] + [QF]
Unknown Displacement

Joint Load
QI
QII

KI,I

KII,I

KI,II

Du

KII,II

Dk

Reaction

Fixed End Forces

QFI
+

QFII

Support Boundary Condition

(AE/L) = (1x10-3)(200x106)/(11.18) = 17.89x103 kN

1
60
-80

0.0
D1
D2
D3

AE
L

L
AE

1 0.512

0.0

0.0

D1

0.0

0.288

0.0

D2

0.0

0.0

3.2

D3

+117.2
-277.8
0.0

0.0
+

0.0
0.0

6.551

mm

-15.53

mm

0.0

mm

80

z
60 kN

80 kN

10 m
y

4m

4m

O
3m

Member

3m

x y

-0.3578 +0.2683 -0.8944

#2

+0.3578 +0.2683 -0.8944

#3
#4

+0.3578 -0.2683 -0.8944

-0.3578 -0.2683 -0.8944

D1
D2
D3

dxi

#1

Member forces:
[qj]m = AE
L

dyi
dzi
dxj

qF

dyj

[qj]1 =

AE
L

+0.3578 -0.2683 +0.8944

= +116.5 kN (T)

L
AE

117.2

dzj

[0]

-277.8
0.0

81

z
60 kN

80 kN

10 m
y

4m

[qj]2 =

[qj]3 =

[qj]4 =

4m

AE
L
AE
L
AE
L

-0.3578

-0.3578

3m

Member

3m

-0.2683 +0.8944

+0.2683 +0.8944

+0.3578 +0.2683 +0.8944

#1

-0.3578 +0.2683 -0.8944

#2

+0.3578 +0.2683 -0.8944

#3
#4

+0.3578 -0.2683 -0.8944

-0.3578 -0.2683 -0.8944

L
AE
L
AE
L
AE

117.2
-277.8
0.0

= +32.61 kN (T)

117.2
-277.8
0.0

= -116.5 kN (T)

117.2
-277.8
0.0

= -32.61 kN (T)

82

Member

#1

-0.3578 +0.2683 -0.8944 116.5

#2

+0.3578 +0.2683 -0.8944 32.6

#3
#4

+0.3578 -0.2683 -0.8944 -116.5

-0.3578 -0.2683 -0.8944 -32.6
60 kN

80 kN
1

R5z = (-32.6)(-0.8944)
= 29.16 kN
5

[qj]m

32.6 kN

32.6 kN

116.5 kN
116.5 kN

R5y = (-32.6)(-0.2683) = 8.75 kN

R5x = (-32.6)(-0.3578) = 11.66 kN

83