DIRECT STIFFNESS METHOD FOR

3-D STRUCTURES:-
NEED FOR 3D ANALYSIS:
The planar truss, beam, and frame components
can be analyzed separately as a part of the total
structural system. In many structures the individual
constituents act independently of each other: the forces
are transmitted between parts, but no-additional
interaction occurs. For some structures it is impossible
to resolve the load-transfer mechanism into a system of
individual planar structural components. Many radar
telescopes, power transmission towers and steel
offshore oil-drilling platforms consist of composites of
trusses arranged in multiple planes; their structural
integrity depends upon the three-dimensional interaction
of the members. Some three-dimensional structures are
constructed using flexural members. Interdependent
flexural elements arranged in a plane form a grid
structure, and space frames have their members oriented
in general three-dimensioned space.
A relatively common use of three-dimensional
structures consists of the space frames used in
buildings as the horizontal structure to support the
gravity loads and the vertical structural system to
resist lateral loads.
If possible, one can decompose a
structure into its planner components and analyze
the resulting individual subsystems. If a structure
displays true three- dimensional behavior there is
no alternative other than performing an analysis of
the entire assemblage. A three-dimensional
analysis will show the actual behaviors of the
system, but these investigations are very
complicated. The structural stiffness matrix is very
large. Three-dimensional coordinate
transformations are more time consuming than
those in a plane. Also, preparing the input data and
interpreting the analysis results require extreme
care to avoid errors.
SPACE TRUSS:-
A space truss is composed of individual axial
force elements, transmitting forces in either tension or
compression. The members meeting at a joint are
carefully aligned so that their centroidal axes intersect at
a common point, and they are welded bolted, or riveted so
that the member forces at a joint form a concurrent forces
system. For the analysis we assume that members are
connected with ideal spherical hinges, and that all loads
are applied at the joints. This latter assumption implies
that members are treated as weightless. Secondary
stresses due to shear forces, bending moments, and/or
torsion are ignored, but the analysis for these effects can
be performed by treating the structure as a space frame.
The three translational degrees of freedom at each node
are required to describe structural behaviour.
As clear from the Fig. That the local x-axis represents
longitudinal axis while y-axis is lateral one.
The stiffness matrix for a truss element is given below:

w1 1 -1 δ1
= AE / L
w2 -1 1 δ2

The truss element both in local & global coordinate

system is shown below in fig. The relation between local
and global displacements are

δxi = Δxi Cos θx + Δyi Cos θy + Δzi Cos θz

δxj = Δxj Cos θx + Δyj Cos θy + Δzj Cos θz
Where

Δxi = Displacement in global x direction at near end.

Δyi = Displacement in global y direction at near end.
Δzi = Displacement in global z direction at near end.
Δxj = Displacement in global x direction at far end.
Δyj = Displacement in global y direction at far end.
Δzj = Displacement in global z direction at far end.
δxi = Displacement in local 1- axis at near end.
δxj = Displacement in local 2- axis at far end.

θx θy θz are the angles that local 1-axis makes with the x,y
and z global axes respectively. Denoting the direction
cosines as :
Since two element deformation and six structural
deformations are acting on member, dimensions of
transformation matrix become (2 x 6)

Δxi

δ1i Δyi
l m n 0 0 0
= Δzi
δ1j 0 0 0 l m n
Δxj
Δyj
Δzj

δ = T Δ
 As we know that

i.e, K m = T T
K m T

l 0
K m = m 0 AE / L 1 -1 l m n 0 0 0
0 -1 1
0 0 0 l m n
n l
0
m
0 n

0
After multiplying ,the final results comes out to be:
 l2 lm ln - l2 -lm -ln
lm m2 mn -lm - m2 - mn
K m =
ln mn n2 -ln -mn -n2

-l2 -lm -ln l2 lm ln

-lm - m2 - mn lm m2 mn

-ln -mn -n2 ln mn n2

Element forces can be calculated using the following
relation:

W = [KT] . [Δ]

Where [ KT ] is the product of element stiffness matrix [km]

and transformation matrix [T],while
[Δ] is corresponding to deformation matrix. Substituting
the values of these matrices yields the Δxi
following relation :
Δyi

l m n -l -m -n Δzi
w =
-l -m -n l m n Δxj
Δyj
Δzj
As for the truss element, forces have same value at
far & near end ,so matrix [w] is used to find forces
in a member.
Δxi
Δyi
wj = l m n -l -m -n
Δzi
Δxj
Δyj
Δzj
PROBLEM: ANALYZE THE TRUSS BY STIFFNESS
METHOD
 C 600N 600N C
6m

6m
Y
Y

B E X E B
X
6m

6m
A F R FX R
GX
G A
4m 2m 2m 4m

R
AY R
AY
RFY R GY
 structure stiffness matrix for member 1
1 2 3 4 5 6
0.0024 -0.0033 0.0195 -0.0024 0.0033 -0.0195 1
-0.0033 0.0043 -0.0261 0.0033 -0.0043 0.0261 2
K1 = AE 0.0195 -0.0261 0.1564 -0.0195 0.0261 -0.1564 3
-0.0024 0.0033 -0.0195 0.0024 -0.0033 0.0195 4
0.0033 -0.0043 0.0261 -0.0033 0.0043 -0.0261 5
-0.0195 0.0261 -0.1564 0.0195 -0.0261 0.1564 6

structure stiffness matrix for member 2

1 2 3 7 8 9
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1
0.0000 0.0158 0.0474 0.0000 -0.0158 -0.0474 2
2 = AE 0.0000 0.0474 0.1423 0.0000 -0.0474 -0.1423 3
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 7
0.0000 -0.0158 -0.0474 0.0000 0.0158 0.0474 8
0.0000 -0.0474 -0.1423 0.0000 0.0474 0.1423 9
 structure stiffness matrix for member 3
1 2 3 10 11 12
0.0024 0.0033 -0.0195 -0.0024 -0.0033 0.0195 1
0.0033 0.0043 -0.0261 -0.0033 -0.0043 0.0261 2
K3 = AE -0.0195 -0.0261 0.1564 0.0195 0.0261 -0.1564 3
-0.0024 -0.0033 0.0195 0.0024 0.0033 -0.0195 10
-0.0033 -0.0043 0.0261 0.0033 0.0043 -0.0261 11
0.0195 0.0261 -0.1564 -0.0195 -0.0261 0.1564 12
structure stiffness matrix for member 4
4 5 6 7 8 9
0.0190 -0.0761 0.0000 -0.0190 0.0761 0.0000 4
-0.0761 0.3044 0.0000 0.0761 -0.3044 0.0000 5
K4 = AE 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 6
-0.0190 0.0761 0.0000 0.0190 -0.0761 0.0000 7
0.0761 -0.3044 0.0000 -0.0761 0.3044 0.0000 8
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 9
 structure stiffness matrix for member 5
4 5 6 10 11 12
0.6667 0.0000 0.0000 -0.6667 0.0000 0.0000 4
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 5
K5 = AE 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 6
-0.6667 0.0000 0.0000 0.6667 0.0000 0.0000 10
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 11
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 12

structure stiffness matrix for member 6

4 5 6 19 20 21
0.0024 -0.0033 0.0195 -0.0024 0.0033 -0.0195 4
-0.0033 0.0043 -0.0261 0.0033 -0.0043 0.0261 5
K6 = AE 0.0195 -0.0261 0.1564 -0.0195 0.0261 -0.1564 6
-0.0024 0.0033 -0.0195 0.0024 -0.0033 0.0195 19
0.0033 -0.0043 0.0261 -0.0033 0.0043 -0.0261 20
-0.0195 0.0261 -0.1564 0.0195 -0.0261 0.1564 21
 structure stiffness matrix for member 7
4 5 6 16 17 18
0.0186 0.0082 -0.0495 -0.0186 -0.0082 0.0495 4
0.0082 0.0037 -0.0220 -0.0082 -0.0037 0.0220 5
K7 = AE -0.0495 -0.0220 0.1320 0.0495 0.0220 -0.1320 6
-0.0186 -0.0082 0.0495 0.0186 0.0082 -0.0495 16
-0.0082 -0.0037 0.0220 0.0082 0.0037 -0.0220 17
0.0495 0.0220 -0.1320 -0.0495 -0.0220 0.1320 18

structure stiffness matrix for member 8

7 8 9 10 11 12
0.0190 0.0761 0.0000 -0.0190 -0.0761 0.0000 7
0.0761 0.3044 0.0000 -0.0761 -0.3044 0.0000 8
K8 = AE 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 9
-0.0190 -0.0761 0.0000 0.0190 0.0761 0.0000 10
-0.0761 -0.3044 0.0000 0.0761 0.3044 0.0000 11
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 12
 structure stiffness matrix for member 9
7 8 9 19 20 21
0.0056 -0.0150 0.0225 -0.0056 0.0150 -0.0225 7
-0.0150 0.0400 -0.0601 0.0150 -0.0400 0.0601 8
K9 = AE 0.0225 -0.0601 0.0901 -0.0225 0.0601 -0.0901 9
-0.0056 0.0150 -0.0225 0.0056 -0.0150 0.0225 19
0.0150 -0.0400 0.0601 -0.0150 0.0400 -0.0601 20
-0.0225 0.0601 -0.0901 0.0225 -0.0601 0.0901 21

structure stiffness matrix for member 10

7 8 9 16 17 18
0.0056 0.0150 -0.0225 -0.0056 -0.0150 0.0225 7
0.0150 0.0400 -0.0601 -0.0150 -0.0400 0.0601 8
K10 = AE -0.0225 -0.0601 0.0901 0.0225 0.0601 -0.0901 9
-0.0056 -0.0150 0.0225 0.0056 0.0150 -0.0225 16
-0.0150 -0.0400 0.0601 0.0150 0.0400 -0.0601 17
0.0225 0.0601 -0.0901 -0.0225 -0.0601 0.0901 18
 structure stiffness matrix for member 11
7 8 9 13 14 15
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 7
0.0000 0.0158 0.0474 0.0000 -0.0158 -0.0474 8
K11 = AE 0.0000 0.0474 0.1423 0.0000 -0.0474 -0.1423 9
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 13
0.0000 -0.0158 -0.0474 0.0000 0.0158 0.0474 14
0.0000 -0.0474 -0.1423 0.0000 0.0474 0.1423 15

structure stiffness matrix for member 12

10 11 12 16 17 18
0.0024 0.0033 -0.0195 -0.0024 -0.0033 0.0195 10
0.0033 0.0043 -0.0261 -0.0033 -0.0043 0.0261 11
K12 = AE -0.0195 -0.0261 0.1564 0.0195 0.0261 -0.1564 12
-0.0024 -0.0033 0.0195 0.0024 0.0033 -0.0195 16
-0.0033 -0.0043 0.0261 0.0033 0.0043 -0.0261 17
0.0195 0.0261 -0.1564 -0.0195 -0.0261 0.1564 18
 structure stiffness matrix for member 13
13 14 15 19 20 21
0.0095 -0.0380 0.0000 -0.0095 0.0380 0.0000 13
-0.0380 0.1522 0.0000 0.0380 -0.1522 0.0000 14
K13 = AE 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 15
-0.0095 0.0380 0.0000 0.0095 -0.0380 0.0000 19
0.0380 -0.1522 0.0000 -0.0380 0.1522 0.0000 20
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 21

structure stiffness matrix for member 14

13 14 15 16 17 18
0.0095 0.0380 0.0000 -0.0095 -0.0380 0.0000 13
0.0380 0.1522 0.0000 -0.0380 -0.1522 0.0000 14
K14 = AE 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 15
-0.0095 -0.0380 0.0000 0.0095 0.0380 0.0000 16
-0.0380 -0.1522 0.0000 0.0380 0.1522 0.0000 17
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 18
 structure stiffness matrix for member 15
16 17 18 19 20 21
0.3333 0.0000 0.0000 -0.3333 0.0000 0.0000 16
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 17
K15 = AE 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 18
-0.3333 0.0000 0.0000 0.3333 0.0000 0.0000 19
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 20
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 21
Using Relation
UNKNOWN DEFORMATIONS

ΔU = K11-1 W k we get

187.5 1
50032.8468 2
641.570238 3
-7392.55006 4
7038.30789 5
-1739.77996 6
187.5 7
ΔU = 1/AE 8933.3204 8
5908.67193 9
-7392.55006 10
10828.3329 11
-3003.12163 12
187.5 13
1361.11492 14
375 16
 UNKNOWN REACTIONS
Using Relation

Wu = K 21 ΔU

W16 -1200.00
W17 -300.00
W18 = 600.00 N
W19 0.00
W20 -300.00
W21 600.00
 Member Forces

Using Relation
Δ ix
Δ iy
w = l1 m1 n1 -l1 -m1 -n1 x Δ iz
Δjx
Δjy
Δjz

For Member 1 187.5

50032.8
641.57
w 1 = -0.122372552 0.1632 -0.979 0.1224 -0.1632 0.979 x -7392.55
7038.31
-1739.78

w 1 = 3756.250 N
For Member 2 187.5
50033
641.57
w 2 = 0 -0.316 -0.949 0 0.3162 0.9487 x 187.5
8933.3
5908.7

w 2 = -8000 N

For Member 3 187.5

50032.8468
641.570238
w 3= 0.122373 0.1631634 -0.97898 -0.1223726 -0.1631634 0.97898042 x -7392.5501
10828.3329
-3003.1216

w 3= 3756.25 N
For Member 4 -7393
7038.3
-1740
w 4 = 0.242535625 -0.97014 0 -0.24254 0.970143 0 187.5
8933.3
5908.7

w 4 = 0 N

For Member 5 -7392.6

7038.3
-1739.8
w 5 = 1 0 0 -1 0 0 x -7392.6
10828
-3003.1

w 5 = 0.000 N
For Member 6 -7392.55
7038.308
-1739.78
w 6 = -0.122372552 0.163163 -0.97898 0.122373 -0.16316 0.97898 x 0
0
0

w 6 = 3756.250 N

For Member 7 -7393

7038.3
-1740
w 7 = 0.35 0.15 -0.93 -0.35 -0.15 0.93 x 375
0
0

w 7 = 0.000 N
 For Member 8 187.5
8933.32
5908.672
w 8 = 0.24 0.97 0.00 -0.24 -0.97 0.00 x -7392.55
10828.33
-3003.12

w 8 = 0.000 N

For Member 9 187.5

8933.3
5908.7
w 9 = -0.20 0.54 -0.81 0.20 -0.54 0.81 x 0
0
0

w 9 = -1E-11 N
For Member 10 187.5
8933.3
5908.7
w 10 = 0.20 0.54 -0.81 -0.20 -0.54 0.81 x 375
0
0

w 10 = 0.000 N

For Member 11 187.5

8933.3
5908.7
w 11 = 0.00 -0.32 -0.95 0.00 0.32 0.95 x 187.5
1361.1
0

w 11 = -8000.00 N
For Member 12 -7392.55
10828.33
-3003.12
w 12 = 0.12 0.16 -0.98 -0.12 -0.16 0.98 x 375
0
0

w 12 = 3756.250 N

For Member 13 187.5

1361.1
0
w 13 = -0.24 0.97 0.00 0.24 -0.97 0.00 x 0
0
0

w 13 = 1275.00 N
For Member 14 187.5
1361.1
0
w 14 = 0.24 0.97 0.00 -0.24 -0.97 0.00 x 375
0
0

w 14 = 1275.0 N

For Member 15 375

0
0
w 15 = -1.00 0.00 0.00 1.00 0.00 0.00 x 0
0
0

w 15 = -375.0 N
PROBLEM: ANALYZE THE TRUSS BY METHOD OF
JOINT
 C 600N 600N C

6m
6m

Y
Y

B E X E B
X

6m
6m

A F R FX R
GX
G A
4m 2m 2m 4m

R
AY R
AY
RFY R GY
 Reactions
The vertical reaction at A, RAY, can be determined by taking
moments about Y- axis passing through points F and G
ΣMY= 0
RAY x 6 + 600 x 12 = 0
6 RAY = 7200
RAY = -1200 N
Similarly a moment equation about Z-axis through point g allow
us to obtain RFY
ΣMZ= 0
- 1200 x 1.5 + RFY x 3 = 0
3 RFY = 1800
RFY = 600 N
To determine RFX , we sum a moment about X-axis through
point
- 600 x 1.5 + RFX x 3 = 0
RFX = 300 N
Summing forces in the Z-direction
ΣFZ= 0
RGZ = 0 N
Summing forces in the Y-direction
ΣFY= 0
RAY + RFY + RGY = 0
- 1200 + 600 + RGY = 0
RGY = 600 N
Summing forces in the X-direction
ΣFX= 0
RFX + RGX = 600
RGX = 600 – 300 = 300N
Member Member Projection Length Ratio of Projection
N0 X y z x/L y/L z/L

1 BC 0 2 6 6.32 0 0.32 0.95

2 CE 0.75 1 6 6.13 0.12 0.163 0.98
3 CD 0.75 1 6 6.13 0.12 0.136 0.98
4 BE 0.75 3 0 3.1 0.24 0.97 0
5 ED 1.5 0 0 1.5 1 0 0
6 BD 0.75 3 0 3.1 0.24 0.97 0
7 AB 0 2 6 6.32 0 0.32 0.95
8 BF 1.5 4 6 7.36 0.2 0.54 0.81
9 BG 1.5 4 6 7.36 0.2 0.54 0.81
10 EF 0.75 1 6 6.13 0.12 0.163 0.98
11 DF 2.25 1 6 6.48 0.35 0.154 0.93
12 DG 0.75 1 6 6.13 0.12 0.163 0.98
13 AF 1.5 6 0 6.18 0.24 0.97 0
14 FG 3 0 0 3 1 0 0
Joint C:
 ΣFY= 0
- 0.32BC + 0.163CE + 0.163CD = -600 -----------------(1)
ΣFx= 0
0.12CE – 0.12CD = 0
CE = CD
ΣFZ= 0
-0.95BC – 0.98 CE – 0.98 CD = 0 ----------------------------(2)
put CE value in Equ. (1) we get,
- 0.32BC + 0.326CE = -600
CE = 0.98BC – 1840
Put in equ. (2)
- 0.95BC – 1.96 (0.98BC – 1840) = 0
- 0.95BC – 1.92BC + 3606 = 0
BC = 1256N
Equ. (1) becomes
- 0.32BC + 0.326CE = -600
0.326CE = 402– 600
CE = -607N
 Join
t E:

CB
BE DE

E
 ΣFz= 0
- 0.98 (607) – 0.98 EF= 0
EF = -607N
ΣFY= 0
0.163 (607) – 0.97BE +0.163EF = 0
99 – 0.97BE + 0.163EF = 0
0.163EF – 0.97BE = -99
0.163(-607) – 0.97BE = - 99
-99 – 0.97BE = -99
BE = 0
ΣFx= 0
0.12(-607) – 1.5ED – 0.2BE - 0.12EF = 0
-72.84 – 1.5ED –0.2(0) – 0.12 (-607) = 0
ED = 0
 Join
t D:
 ΣFY= 0
0.163 (607) – 0.97BD + 0.154 DF+ 0.163DG = 0
99 – 0.97 BD + 0.154 DF + 0.163 DG = 0
0.97 BD + 0.154DF + 0.163DG= -99
_______________(1)
ΣFx= 0
0.12 (607) + 0.24BD +0.35DF – 0.12DG = 0
0.24BD + 0.35DF – 0.12DG = 72.84
______________(2)
ΣFz= 0
-0.98(607) – 0.93DF – 0.98DG = 0
-0.93DF – 0.98DG = 594.86
0.98DG = - 594.86 – 0.93DF
DG = -607 – 0.95 DF _____________(3)
Put in equ. (2)
0.24BD + 0.35DF – 0.12(-607 – 0.95DF)= 72.84
0.24BD + 0.35DF + 72.84 + 0.114DF = 72.84
0.24BD = - 0.464DF
BD = - 1.93DF
Put in equ. (1)
-0.97 (- 1.93DF) + 0.154DF + 0.163 ( -607 – 0.95DF) = - 99
1.87DF + 0.154DF – 99 – 1.55DF = - 99
DF = 0
BD = 0
DG = - 607 – 0
DG = - 607
Joint B:
 ΣFY= 0
0.32 (1256) – 0.32AB + 0.54BG + 0.54BF = 0
-0.32AB + 0.54BG + 0.54BF = -401.92 ---------------(1)
ΣFX= 0
BG = BF
ΣFZ= 0
0.95(1256) – 0.95AB –0.81BG – 0.81 BF = 0
0.95AB + 0.81BG + 0.81BF = 1193.2
0.95AB + 0.81BG + 0.81BG = 1193.2
0.95AB + 1.62BG = 1193.2
AB = 1256 – 1.7BG
Put in equ. (1)
0.32(1256 – 1.7 BG) + 0.54BG + 0.54BG = - 401.92
401.92+ 0.54BG +0.54BG + 0.54BG = -401.92
BG = 0
BF = 0
AB = 1256 – 0 = 1256N
 Join
t A:

ΣFX= 0
0.24AG – 0.24 AF = 0
AG = AF
ΣFY= 0
0.97AG + 0.97AF + 0.32(1256) = 0
1.94AG = - 401.92
AG = - 207.17N
AF = - 207.17N
 Join
t F:

BF FD
AF
FG

ΣFX= 0
- GF – 0.12 (-607) – 0.24 (-
207.17)
GF = 72.84 + 49.72
GF = 122.56N
 SUMMA MEMBER FORCE (N)
BC 1256
RY CE -607
CD -607
REACTION FORCE (N) EF -607
RAY -1200 ED 0

RFY 600 BE 0

RFX -300 DF 0

RGZ 0 DB 0

RGY -300 DG -607

RGX 600 BG 0

BF 0
AB 1256
AG -207.17
AF -207.17
 COMPARISI
ON

REACTION METHOD STIFFNESS

OF JOINT METHOD
FORCE FORCE
(N) (N)
RAY -1200 -1200
RFY 600 600
RFX -300 -300
RGZ 0 0
RGY -300 -300
RGX 600 600