ME 664

Finite Element Method

Development of Truss Equations

Instructor : Assoc. Prof. Dr. Samet AKAR

Department of Mechanical Engineering

Çankaya University
Stiffness Matrix for a Bar Element

o Derivation of the Stiffness Matrix for a Bar Element in Local

Coordinates

o Element Properties:
o linear-elastic (Defined by an elastic modulus E)
o Constant cross-sectional area (prismatic) (A)
o Length (L)
o u1 and u2 are nodal displacement

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Stiffness Matrix for a Bar Element

o Let’s start with Hooks Law:

o Knowing the relationship between strain and displacement:

o From force equilibrium, we have:

o Using these three equations (as already being derived) we

have:

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Stiffness Matrix for a Bar Element
o Assumptions:
o The bar cannot sustain shear force or bending moment, that is,
f =0, f =0, M =0 and M =0.
1y 2y 1 2

o Any effect of transverse displacement is ignored.

o Hooke’s law applies
o No intermediate applied loads.
o Steps:
o Step 1: Select the Element Type (bar element 2 Dof)
o Step 2: Select a Displacement Function
o Step 3: Define the Strain-Displacement and Stress-Strain Relationships
o Step 4: Derive the Element Stiffness Matrix and Equations
o Step 5: Assemble Element Equations to Obtain Global Equations
o Step 6: Solve for the Nodal Displacements
o Step 7: Solve for the Element Forces
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Step 2: Select a Displacement Function

o Assume a linear displacement variation along the x axis of the

bar

o Having u(0)=u1 a1=u1

o And u(L)=u2 a2=(u2-u1)/L
In matrix form

Shape Functions

𝑥 𝑥
𝑁1 = 1 − 𝑁2 =
𝐿 𝐿
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Step 3
Define the Strain/Displacement and Stress/Strain Relationships
o The strain/displacement relationship is:

o Stress/strain relationship

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Derive the Element Stiffness Matrix and Equations
o From elementary mechanics, we have:

o Having strain/displacement and stress/strain relations:

o By the nodal force sign convention

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Assembly and the Solution

o The next step is to Assemble Element Equations to Obtain

Global or Total Equations

o Finally solve for the nodal displacements

𝐹 = 𝐾 𝑢

o Solve for the Element Forces

o Determine the strains and stresses in each element by back-
substitution of the displacements

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Example
For the given three-bar assemblage determine:

(a) the global stiffness matrix,

(b) the displacements of nodes 2 and 3, and
(c) the reactions at nodes 1 and 4.

A force of 3000 lb is applied in the x direction at node 2. The length of each

element is 30 in. Let E=3× 106 psi and A=1 in2 for elements 1 and 2, and
let E =15 ×106 psi and A =2 in2 for element 3. Nodes 1 and 4 are fixed.

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Solution
o Element Stiffness Matrices:

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Transformation of vectors in 2D
o In many problems it is convenient to introduce both local (x’-y’ )
and global (or reference) (x -y) coordinates.
o Local coordinates are always chosen to represent the
individual element conveniently.
o Global coordinates are chosen to be convenient for the whole
structure.
o The idea of vector transformation is: given the nodal
displacement of an element, represented by the vector d we
want to relate the components of this vector in one coordinate
system to the components in another.

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Transformation of vectors in 2D

global
Local Displacement matrix
Displacement Matrix
transformation
(or rotation) matrix

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Example

o The global nodal displacements at node 2 have been

determined to be u2=0.1 in. and v2=0.2 in. for the given bar
element. Determine the local x displacement at node 2.

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Global Stiffness Matrix for Bar Arbitrarily Oriented in the Plane

o We now consider a bar inclined at an angle θ from the global x axis

identified by the local axis x’ directed from node 1 to node 2 along the
direction of the bar. Here positive angle u is taken counterclockwise from x
to x’ .

We now want to relate the global element nodal forces {f} to the global nodal displacements {d}
for a bar element arbitrarily oriented with respect to the global axes

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Global Stiffness Matrix for Bar Arbitrarily Oriented in the Plane

Similarly, because forces transform in the same manner as displacements, we replace local and
global displacements

Knowing that

However, to write the final expression relating global nodal forces to global nodal displacements for an element, we must
invert [T* ]. This is not immediately possible because [T *] is not a square matrix.

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Global Stiffness Matrix for Bar Arbitrarily Oriented in the Plane

Similarly

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Global Stiffness Matrix for Bar Arbitrarily Oriented in the Plane

Premultiplying both sides by [T ]-1,

[T] is an orthogonal matrix : [T]-1=[T]T

Global Stiffness matrix is determined as:

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 Explicit form of Stiffness Matrix

o The explicit stiffness matrix for a bar arbitrarily oriented in the x – y

plane is obtained as:

The total stiffness matrix [K] can be obtained as

where N is the total number of elements.

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Example
For the given bar element, evaluate the global stiffness matrix with respect to the
x – y coordinate system. Let the bar’s cross-sectional area equal 2 in2, length
equal 60 in., and modulus of elasticity equal 30×106 psi. The angle the bar makes
with the x axis is 30°.

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Computation of Stress for a Bar in the x – y Plane

o For a bar, the local forces are related to the local displacements by

o The usual definition of axial tensile stress is

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Example
o For the given bar element, determine the axial stress.
o Let A=4×10-4 m2, E=210 GPa, and L=2 m, and let the angle between x and
x’ be 608. Assume the global displacements have been previously
determined to be u1=0.25 mm, v1=0.0, u2=0.50 mm, and v2=0.75 mm.

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Solution of a Plane Truss
A plane truss is a structure composed of bar elements
that all lie in a common plane and are connected by frictionless
pins.
Example: For the given plane truss composed of the three elements subjected
to a downward force of 10,000 lb applied at node 1, determine the x and y
displacements at node 1 and the stresses in each element. Let E=30×106 psi and
A=2 in2 for all elements. The lengths of the elements are shown in the figure.

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Solution-Plane Truss
o First, we determine the global stiffness matrices for each element

This requires determination of the angle θ between the global x

axis and the local x’ axis
for each element.

θ(1)=90°
θ(2)=45°
θ(3)=0°

What is the total degrees of freedom in this structure?

What is the order of the global stiffness matrix?

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Solution

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Solution
Verification

We now verify our results by examining force equilibrium at node 1; that is, summing forces in the
global x and y directions, we obtain
Bar Element in 3D
o Transformation Matrix and Stiffness Matrix for a Bar in Three-
Dimensional Space
Bar Element in 3D

The explicit form of [k] is expressed as

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Example
Analyze the given space truss. The truss is composed of four nodes, whose
coordinates (in inches) are shown in the figure, and three elements, whose cross-sectional
areas are given in the figure. The modulus of elasticity E =1.2 ×106 psi for all elements.
A load of 1000 lb is applied at node 1 in the negative z direction. Nodes 2–4 are supported
by ball-and-socket joints and thus constrained from movement in the x, y, and z directions.
Node 1 is constrained from movement in the y direction by the roller shown in the figure.
Solution
Let’s start with element #3 and determine direction cosines
Solution
Element #1

Element #2
Solution
o Using the zero-displacement boundary conditions:
v1=u2=v2=w2=u3 =v3=w3=u4 =v4=w4=0, we can cancel the
corresponding rows and columns of each element stiffness matrix.

We will now determine the stress in each element.

Solution
Example
o Analyze the given space truss. The truss is composed of four nodes, whose
coordinates (in meters) are shown in the figure, and three elements, whose
cross-sectional areas are all 10 ×10-4 m2. The modulus of elasticity E=210
GPa for all the elements. A load of 20 kN is applied at node 1 in the global
x-direction. Nodes 2–4 are pin supported and thus constrained from
movement in the x, y, and z directions.

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Solution

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Solution

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