Structural Analysis - III

Direct Stiffness Method

Dr. Rajesh K. N.
Asst. Professor in Civil Engineering
Govt. College of Engineering, Kannur

1
RajeshKN Dept. of CE, GCEK
 Module III
Direct stiffness method

Introduction element stiffness matrix rotation transformation

matrix transformation of displacement and load vectors and
stiffness matrix equivalent nodal forces and load vectors
assembly of stiffness matrix and load vector determination of
nodal displacement and element forces analysis of plane truss
beam and plane frame (with numerical examples) analysis of
grid space frame (without numerical examples)

2
RajeshKN Dept. of CE, GCEK
Introduction
The formalised stiffness method involves evaluating the displacement
transformation matrix CMJ correctly

Generation of matrix CMJ is not suitable for computer programming

Hence the evolution of direct stiffness method

3
3
RajeshKN Dept. of CE, GCEK
Direct stiffness method
We need to simplify the assembling process of SJ, the assembled structure
stiffness matrix

The key to this is to use member stiffness matrices for actions and
displacements at BOTH ends of each member

If member displacements are expressed with reference to global co-

ordinates, the process of assembling SJ can be made simple

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RajeshKN Dept. of CE, GCEK
 Member oriented axes (local coordinates)
and structure oriented axes (global coordinates)

y
x
L L

Local axes

x
Y L L sin
L cos
Global axes y

X
Global and local axes 5
RajeshKN Dept. of CE, GCEK
 Plane truss member

Stiffness coefficients in local coordinates

2 4

3
1
y Degrees of freedom

0 0
EA EA
1
x
L L
Unit displacement

corr. to DOF 1

EA EA
L 0 0

L
Member stiffness matrix in local
0 0 0 0
[ SM ] =
coordinates
EA EA
0 0
L L
0 0 0 0
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RajeshKN Dept. of CE, GCEK
Transformation of displacement vector

U 22 = D2 cos
U12 = D2 sin D2 Displacements in global
coordinates: U1 and U2

Y D1 U 21 = D1 sin
U1 = U11 + U12 = D1 cos D2 sin
U11 = D1 cos
U 2 = U 21 + U 22 = D1 sin + D2 cos

D1 cos sin U1
=
X D2 sin cos U 2

{D} = [ R ]{U }
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RajeshKN Dept. of CE, GCEK
 D1 cos sin 0 0 U1
D sin cos 0 U 2
2 0

=
D3 0 0 cos sin U 3
D4 0 0 sin

cos U 4

{DLOCAL } = [ RT ]{DGLOBAL }

[ R ] [O ]
[ RT ] = Rotation matrix
[O ] [ R ]

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RajeshKN Dept. of CE, GCEK
Transformation of load vector
Actions in global
coordinates:
F1 and F2

F1 = F11 + F12 = A1 cos A2 sin

F22 = A2 cos F2 = F21 + F22 = A1 sin + A2 cos
F12 = A2 sin A2
A1 cos sin F1
=
A2 sin cos F2
Y A1 F21 = A1 sin
F11 = A1 cos { A} = [ R ]{F }
A1 cos sin 0 0 F1
A sin cos 0 F2
2 0

=
A3 0 0 cos sin F3
A4 0 0 sin

cos F4
X

i.e., { ALOCAL } = [ RT ]{ AGLOBAL }

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RajeshKN Dept. of CE, GCEK
Transformation of stiffness matrix

{ ALOCAL } = [ S M ]{DLOCAL }
[ RT ]{ AGLOBAL } = [ SM ][ RT ]{DGLOBAL }
{ AGLOBAL } = [ RT ] [ SM ][ RT ]{DGLOBAL } [ RT ]1 = [ RT ]T
1

{ AGLOBAL } = [ SMS ]{DGLOBAL } where, [ S MS ] = [ RT ] [ S M ][ RT ]

T

Member stiffness matrix in

global coordinates
[ S MS ] = [ RT ]T [ S M ][ RT ]
c s 0 0
T
1 0 1 0 c s 0 0 c2 cs c2 cs
s
c 0 0 EA 0 0 0 0 s c 0 0 EA cs s2 cs s2
= =
0 0 c s L 1 0 1 0 0 0 c s L c 2 cs c2 cs

0 0 s c 0 0 0 0 0 0 s c cs s2 cs s2
For a plane truss member 10
RajeshKN Dept. of CE, GCEK
 Plane frame member
Stiffness coefficients in local coordinates
2 5

1 4
3 6

Degrees of freedom
EA EA
L 0 0 0 0
L

0 12 EI 6 EI 12 EI 6 EI
0
L3 L2 L3 L2
6 EI 4 EI 6 EI 2 EI
0 0 2
L2 Member stiffness matrix
[ S Mi ] = L L L


EA EA in local coordinates
0 0 0 0
L L
0
12 EI

6 EI
0
12 EI 6 EI
2
L3 L2 L3 L

0 6 EI 2 EI 6 EI 4 EI
0 2
L2 L L L
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RajeshKN Dept. of CE, GCEK
Transformation of displacement vector
D1 cos sin 0 0 0 0 U1
D sin cos 0 0 0 0 U 2
2
D3 0 0 1 0 0 0 U 3
=
D4 0 0 0 cos sin 0 U 4
D5 0 0 0 sin cos 0 U 5

D6 0 0 0 0 0 1 U 6

{DLOCAL } = [ RT ]{DGLOBAL }

[ R ] [O ]
[ RT ] = Rotation matrix
[O ] [ R ]

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RajeshKN Dept. of CE, GCEK
Transformation of load vector

{ ALOCAL } = [ RT ]{ AGLOBAL }

cos sin 0 0 0 0
sin cos 0 0 0 0

0 0 1 0 0 0
[ RT ] =
0 0 0 cos sin 0
0 0 0 sin cos 0

0 0 0 0 0 1

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RajeshKN Dept. of CE, GCEK
Transformation of stiffness matrix

{ AGLOBAL } = [ SMS ]{DGLOBAL }

Member stiffness matrix in

[ S MS ] = [ RT ]T [ SM ][ RT ] global coordinates

EA EA
L 0 0 0 0
L
c s 0 0 0 0
0 12 EI 6 EI 12 EI 6 EI
0 3 s c 0 0 0 0
L3 L2 L L2
6 EI 4 EI 6 EI 2 EI 0 0 1 0 0 0
0
L2
0 2
, [ RT ] =
Where, [ S M ] = L L L
0 0 0 c s 0
EA EA 0
0 0 0 0 0 0 s c 0
L L
0 12 EI 6 EI 12 EI 6 EI 0 0 0 0 0 1
0 2
L3 L2 L3 L

0 6 EI 2 EI 6 EI 4 EI
0 2
L2 L L L
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RajeshKN Dept. of CE, GCEK
 Assembling global stiffness matrix
Force Plane truss
2

1 2
1 3
3

2 4

3
1

Action/displacement components in
local coordinates of members

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RajeshKN Dept. of CE, GCEK
 4 4

3 3

6
2

1 6 5
2

1 5
4

3
Action/displacement components in
global coordinates of the structure
6
2

1 5
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RajeshKN Dept. of CE, GCEK
 Global DOF
1 2 3 4
c cs c cs s
2 2 11

M1
12
s
M1
s13

M1
s 1
14

M1

cs s cs s s 2 2 21
s 22
s 23
s 2
24
EA
[ ]
S = = M1 M1 M1

M1

L c cs c cs s s 3
M1 2 2 31 32 33 34
s s

M1 M1 M1 M1

cs s cs s s
2 2 41

M1
s
M1
42
sM1
43
s 4
44

M1

1 2 3 4 5 6

1
2
Contribution of
Member 1 to global
3
[S J ] =
stiffness matrix

4
5

6
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RajeshKN Dept. of CE, GCEK
 Global DOF
3 4 5 6
s s 3
11 12 13 14

M 2
s M 2
s M 2 M 2

s 21
s 22
s 23
s 4
24

[S ] = M 2 M 2 M 2

M 2

s s 5
M 2 31 32 33 34
s s
s
M 2 M 2 M 2 M 2

s 6
41 42 43 44

M 2
s M 2
s M 2 M 2

1 2 3 4 5 6

1
2
Contribution of
3 Member 2 to global
[S J ] = stiffness matrix
4
5

6
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RajeshKN Dept. of CE, GCEK
 Global DOF
1 2 5 6
s s 1
11 12 13 14

M3
s M3
s M3 M3

s 21
s 22
s 23
s 2
24

[S ] = M3 M3 M3

M3

s s 5
M3 31 32 33 34
s s
s
M3 M3 M3 M3

s 6
41 42 43 44

M3
s M3
s M3 M3

1 2 3 4 5 6

1
2
Contribution of
3 Member 3 to global
[S J ] = stiffness matrix
4
5

6
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RajeshKN Dept. of CE, GCEK
 Assembled global stiffness matrix

1 2 3 4 5 6

sM1 + sM3 sM1 + sM3 sM3

11 11 12 12 13 14 13 14
sM1 sM1 sM3 1
s21 + s21 s22 + s22 s
23
s
24
s
23
s
24 2
M1 M3 M1 M3 M1 M1 M3 M3

sM131 32
sM1 sM1 + sM2 sM1 + sM2
33 11 34 12 13
sM2 sM2
14
3
[ SJ ] = 41
sM1 + sM2 sM1 + sM2
42 43 21 44 22 23 24
4
sM1 sM1 sM2 sM2
sM313 32
sM3
31
sM2
32
sM2 sM2 + sM3 sM2 + sM3
33 33 34 34
5
41 44
sM3 sM2 + sM3 sM2 + sM3
42 41 42 43 43 44
sM3 sM2 sM2 6

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RajeshKN Dept. of CE, GCEK
 Imposing boundary conditions 2
Plane truss example
1 2
Boundary conditions are: D1 = D2 = D5 = D6 = 0 1
3
3

A1 s11M1 + s11M3 s12M1 + s12M3 13

sM1
14
sM1
13
sM3 sM3 D1
14

A s21 + s21 s22 + s22 23

sM1
24
sM1
23
sM3
24
sM3
D

2 M1 M3 M1 M3 2
A3 sM311 32
sM1 sM1 + sM2 sM1 + sM2
33 11 34 12 13
sM2 sM2 D3
14

= 41
sM1 + sM2 sM1 + sM2
42 43 21 44 22 23 24
A4 sM1 sM1 sM2 sM2 D4
A5 sM313 32
sM3
31
sM2
32
sM2 sM2 + sM3 sM2 + sM3 D5
33 33 34 34

41 44

A6 sM3 sM2 + sM3 sM2 + sM3 D6
42 41 42 43 43 44
sM3 sM2 sM2
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RajeshKN Dept. of CE, GCEK
 Reduced equation system
(after imposing boundary conditions)

A3 s + s s + s D3
33 11 34 12

=
M1 M2 M1 M2

A4 s + s s + s D4
43 21 44 22
M1 M2 M1 M2

This reduced equation system can be solved to get the unknown

displacement components D3, D4

From {DLOCAL } = [ RT ]{DGLOBAL }

{DLOCAL } can be found out.

For each member,{DLOCAL } = {DMi }
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RajeshKN Dept. of CE, GCEK
 Member end actions { AMi } = { AMLi } + [ S Mi ]{DMi }

Where,
{ AMLi } Fixed end actions on the member, in local coords

[ S Mi ] Member stiffness matrix (obviously, in local coords)

[ DMi ] Displacement components of the member, in local coords

As we know, {DMi } = {DLOCAL } = RT [ ]{DGLOBAL }

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RajeshKN Dept. of CE, GCEK
 Direct Stiffness Method: Procedure

STEP 1: Get member stiffness matrices for all members [ SMi ]

STEP 2: Get rotation matrices for all members [ RTi ]

STEP 3: Transform member stiffness matrices from local coordinates into

global coordinates to get [ SMSi ]

STEP 4: Assemble global stiffness matrix [SJ ]

STEP 5: Impose boundary conditions to get the reduced stiffness matrix [ S FF ]

STEP 6: Find equivalent joint loads from applied loads on each member
(loads other than those applied at joints directly)

STEP 7: Transform member actions from local coordinates into global

coordinates to get the transformed load vector

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RajeshKN Dept. of CE, GCEK
 STEP 8: Find combined load vector [ AC ] by adding the above transformed
load vector and the loads applied directly at joints

STEP 9: Find the reduced load vector [ AFC ] by removing members in the load
vector corresponding to boundary conditions in the case of supports

STEP 10: Get displacement components of the structure in global coordinates

{DF } = [ S FF ] { AFC }
1

STEP 11: Get displacement components of each member in local coordinates

{DLOCAL } = [ RT ]{DGLOBAL }
STEP 12: Get member end actions from { AMi } = { AMLi } + [ S Mi ]{DMi }

STEP 13: Get reactions from { AR } = { ARC } + [ S RF ][ DF ]

{ ARC } represents combined joint loads (actual and equivalent)
applied directly to the supports.
25
RajeshKN Dept. of CE, GCEK
 Problem 1:
2
6
1 3
5

EA EA
L 0 0
L 1 0 1 0

0 0 0 0 1 0 0 0 0
[ S M 1 ] = =
2 1
= [SM 2 ] = [SM 3 ] = [SM 4 ]
EA EA 0 1 0
0 0
L L 0 0 0 0
0 0 0 0

1 0 1 0
1 0 1 0
0 0
0 0
1 0 0
1 0 0 [SM 6 ] =
[SM 5 ] = 2.83 1 0 1 0
2.83 1 0 1 0
0 0 0 0
0 0 0 0 26
RajeshKN Dept. of CE, GCEK
 Rotation matrices

cos sin 0 0 0 1 0 0
sin cos 0 0 1 0 0 0
[ RT 1 ] = =
= 90 0 0 cos sin 0 0 0 1

0 0 sin cos 0 0 1 0

1 0 0 0 0 1 0 0 1 0 0 0
0 1 0 0 1 0 0 0 0 1 0 0
[ RT 2 ] = [ RT 3 ] = [ RT 4 ] =
=0 0 0 1 0 =90 0 0 0 1 =180 0 0 1 0

0 0 0 1 0 0 1 0 0 0 0 1

1 1 0 0 1 1 0 0
1 1 0
0 1 0
[ RT 5 ] = 0.707
1 0
[ RT 6 ] = 0.707
= 45 0 0 1 1 =45 0 0 1 1

0 0 1 1 0 0 1 1
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RajeshKN Dept. of CE, GCEK
 [ S MS 1 ] = [ RT 1 ]T [ S M 1 ][ RT 1 ]
1 0 0
T
0 1 0 0 1 0 1 0 0
1 0 0 0 1 0 0 0 0 1 0 0 0
[ S MS 1 ] =
0 0 0 1 2 1 0 1 0 0 0 0 1

0 0 1 0 0 0 0 0 0 0 1 0

0 1 0 0 0 1 0 1 0 0 0 0
0 0 0 0 1
1 1 0 0 0 0 1 1 0
[ S MS 1 ] = =
2 0 0 0 1 0 1 0 1 2 0 0 0 0

0 0 1 0 0 0 0 0 0 1 0 1

1 0 1 0
0 0
10 0
[ S MS 2 ] =
2 1 0 1 0

0 0 0 0

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RajeshKN Dept. of CE, GCEK
 1 0 1 0 0 1 0
T
0 0 1 0 0
1 0 0 0 10 0 0 0 1 0 0 0
[ S MS 3 ] =
0 0 0 1 2 1 0 1 0 0 0 0 1

0 0 1 0 0 0 0 0 0 0 1 0

0 1 0 0 0 1 0 1 0 0 0 0
1
1 1 0 0 0 0 0 0 0 = 1 0 1 0

[ S MS 3 ] =
2 0 0 0 0
20 0 0 1 0 1 0 1

1 0 1 0 1
0 0 0 0 0 0 0

1 0 1 0
0 0
10 0
[ S MS 4 ] =
2 1 0 1 0

0 0 0 0

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RajeshKN Dept. of CE, GCEK
 1 0
T
1 1 0 0 1 0 1 1 0 0
1 1 0 0 1 0 0 0 0 1 1 0 0
[ S MS 5 ] = 0.707 0.707
0 0 1 1 2.83 1 0 1 0 0 0 1 1

0 0 1 1 0 0 0 0 0 0 1 1

1 1 0 0 1 1 1 1 1 1 1 1
1 1 0 0 0 0 0 0 1 1 1 1
[ S MS 5 ] = 0.1766 = 0.1766
0 0 1 1 1 1 1 1 1 1 1 1

0 0 1 1 0 0 0 0 1 1 1 1

1 0 1 0 1 0
T
1 0 1 0 1 0
1 1 0 0 1 0 0 0 0 1 1 0 0
[ S MS 6 ] = 0.707 0.707
0 0 1 1 2.83 1 0 1 0 0 0 1 1

0 0 1 1 0 0 0 0 0 0 1 1

1 1 0 0 1 1 1 1 1 1 1 1
1 1 0 0 0 0 0 0 1 1 1 1
[ S MS 6 ] = 0.177 = 0.177
0 0 1 1 1 1 1 1 1 1 1 1

0 0 1 1 0 0 0 0 1 1 1 1
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RajeshKN Dept. of CE, GCEK
 Assembled global stiffness matrix

1 1
0 + 2 + 0.1766 0 + 0 + 0.1766 0 0 0.1766 0.1766
2
0

0 + 0 + 0.1766 1 1
+ 0 + 0.1766 0 0.1766 0.1766 0 0
2 2
1 1
0 0 0+ + 0.1766 0 + 0 0.1766 0 0.1766 0.1766
2 2
1 1
0 0 + 0 0.1766 + 0 + 0.1766 0 0 0.1766 0.1766
[SJ ] = 2 2
1 1
0.1766 0.1766
2
0
2
+ 0 + 0.1766 0 + 0 + 0.1766 0 0

0.1766 1 1
0.1766 0 0 0 + 0 + 0.1766 0+ + 0.1766 0
2 2
1 1
0 0.1766 0.1766 0 0 0+ + 0.1766 0 + 0 0.1766
2 2
1 1
0 0 0.1766 0.1766 0 0 + 0 0.1766 + 0 + 0.1766
2 2

Boundary conditions are: D1 = D2 = D8 = 0

0.677 -0.177 -0.500 0.000 -0.177

-0.177 0.677 0.000 0.000 0.177

Reduced stiffness matrix [ S F F ] = -0.500 0.000 0.677 0.177 0.000

0.000 0.000 0.177 0.677 0.000
-0.177 0.177 0.000 0.000 0.677
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RajeshKN Dept. of CE, GCEK
 5
0
In this problem, the reduced load vector
(in global coords) can be directly written as { AFC } = 0
0

0

4.829 1.000 3.829 -1.000 1.000 5 24.144

1.000 1.793 0.793 -0.207 -0.207 0 5.000

{DF } = [ S FF ] { AFC } = 3.829
1
0.793 4.622 -1.207 0.793 0 = 19.144

-1.000 -0.207 -1.207 1.793 -0.207 0 -5.000

1.000 -0.207 0.793 -0.207 1.793 0 5.000

32
RajeshKN Dept. of CE, GCEK
Problem 2:

EA
0 1 1 0
[ S M 1 ] = L =
1.155 0 0
0 0

1 0 1 1 0
[SM 2 ] = [SM 3 ] =
2 0 0
0 0

cos sin 0.5 0.866

[ RT 1 ] = = 0.866
=60 sin cos 0.5

0 1 0.866 0.5
[ RT 2 ] = [ RT 3 ] =
=90 1 0 =150 0.5 0.866
33
RajeshKN Dept. of CE, GCEK
 [ S MS 1 ] = [ RT 1 ]T [ S M 1 ][ RT 1 ]

0.866 0.866
T
0.5 1 1 0 0.5
[ S MS 1 ] =
0.866 0.5 1.155 0 0 0.866 0.5

0.433 = 0.216 0.375

1 0.5 0.866 0.5 0.866 = 1 0.25 0.375 0.649
[ S MS 1 ] = 1.155 0.433 0.75
1.155 0.866 0.5 0 0

0 1 1 0 0
T
1 = 0 1 0 1 0 0
[ S MS 2 ] = 0
= 0 1
1 0 0 0 1 0 1 0 0

0.866 0.5 1 1 0 0.866 0.5

T

[ S MS 3 ] =
0.5 0.866 2 0 0 0.5 0.866
0.375 0.217
1 0.866 0.5 0.866 0.5 = 1 0.75 0.433 =
[ S MS 3 ] = 0.433 0.25 0.217 0.125
2 0.5 0.866 0 0 2
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RajeshKN Dept. of CE, GCEK
 0.216 + 0 + 0.375 0.375 + 0 + 0.217 0.591 0.158
[ FF ]
S = =
1.774
0.375 + 0 + 0.217 0.649 + 1 + 0.125 0.158

-0.772
{DF } = [ S FF ] { FC }
1
A =
-2.89

35
RajeshKN Dept. of CE, GCEK
Problem 3 :

Global DOF
36
RajeshKN Dept. of CE, GCEK
 EAX
L 0 0
1000 0 0
12 EI Z 6 EI Z 0 6000
[ S M 1 ] = 0 2 =

120

L3 L
0 6000 4 105
6 EI 4 EI Z
0 2Z
L L

EAX
L 0 0
800 0 0
12 EI Z 6 EI Z 0 61.44 3840
[ S M 2 ] = 0
=

L3 L2

0 3840 3.2 10
4 EI Z
5
6 EI Z
0
L2 L

37
RajeshKN Dept. of CE, GCEK
 Rotation matrices

1 0 0 0.8 0.6 0
[ R1 ] = 0 1 0 [ R2 ] = 0.6 0.8 0

0 0 1 0 0 1

Member 1 Member 2

[ S MS 1 ] = [ RT 1 ]T [ S M 1 ][ RT 1 ]

T
1 0 0 1000 0 1 0 0
0
[ S MS 1 ] = 0 1 0 0 120 6000 0 1 0

0 0 1 0 6000 4 10 0 0 1
5

1000 0 0
[ S MS 1 ] = 0 120 6000

0 6000 4 10
5

38
RajeshKN Dept. of CE, GCEK
 0.8 0.6 0 800 0.8 0.6 0
T
0 0
[ S MS 2 ] = 0.6 0.8 0 0 61.44 3840 0.6 0.8 0
0 0 1 0 3840 3.2 105 0 0 1

0.8 0.6 0 640 480 0 534.12 354.51 2304

[ S MS 2 ] = 0.6 0.8 0 36.86 49.15 3840 = 354.51 327.32

3072

0 0 1 2304 3072 3.2 105 2304 3072 3.2 10
5

1000 + 534.12 0 354.51 0 + 2304

[ S FF ] = 0 354.51 120 + 327.32 6000 + 3072

0 + 2304 6000 + 3072 4 10 + 3.2 10
5 5

1534.12 354.51 2304

[ S FF ] = 354.51 447.32 2928
2304 2928 7.2 105
39
RajeshKN Dept. of CE, GCEK
 0
0
0
{ AE } = 22 { AFC } = 32
{ AJ } = 10 1050
1000
50

1
1534.12 354.51 2304 0 0.0206

{DF } = [ S FF ] { AFC } = 354.51 447.32 2928
1
32 =
0.09936
2304 2928 7.2 10 5 1050 0.001797

{ AR } = { ARC } + [ S RF ][ DF ]

40
RajeshKN Dept. of CE, GCEK
Problem 4 :

41
RajeshKN Dept. of CE, GCEK
 EAX
L 0 0
3.5 10 0
5
0
12 EI Z 6 EI
[ S M 1 ] = 0 2Z = 0 6562.5 13125
L3 L
13125 35000
4 EI Z
0
6 EI
0 2Z
L L
EAX
L 0 0
3.5 10
5
0 0
12 EI Z 6 EI Z
[ S M 2 ] = 0 = 0 3888.89 11666.67
L3 L
2

11666.67 46666.67
4 EI Z
0
6 EI Z
0
L2 L

EAX
L 0 0
3.5 10 0
5
0
12 EI Z 6 EI Z
[ S M 3 ] = 0 = 0 6562.5 13125
L3 L2
13125 35000
4 EI Z
0
6 EI Z
0
L2 L
42
RajeshKN Dept. of CE, GCEK
 Rotation matrices

1 0 0 1 0 0 0 1 0
[ R1 ] = 0 1 0 [ R2 ] = 0 1 0 [ R3 ] = 1 0 0

0 0 1 0 0 1 0 0 1
Member 1 Member 2 Member 3

[ S MS 1 ] = [ RT 1 ]T [ S M 1 ][ RT 1 ]

1 0 0 3.5 10 1 0 0
T 5
0 0
[ S MS 1 ] = 0 1 0 0
6562.5 13125 0 1 0

0 0 1 0 13125 35000 0 0 1

3.5 105 0 0
[ S MS 1 ] = 0 6562.5 13125

0 13125 35000

43
RajeshKN Dept. of CE, GCEK
 1 0 0 3.5 10 1 0 0
T 5
0 0
[ S MS 2 ] = 0 1 0 0
3888.89 11666.67 0 1 0

0 0 1 0 11666.67 46666.67 0 0 1

3.5 105 0 0

= 0 3888.89 11666.67
0 11666.67 46666.67

1 0 3.5 105 0 0 1 0
T
0 0

[ S MS 3 ] = 1 0 0

0 6562.5 13125 1

0 0

0 0 1 0 13125 35000 0 0 1

0 1 0 0 3.5 105 0 6562.5 0 13125

[ S MS 3 ] = 1 0 0 6562.5 0

13125 = 0 3.5 105 0

0 0 1 13125 0 35000 13125 0 35000

44
RajeshKN Dept. of CE, GCEK
 3.5 105 0
0 3.5 105 0 0
[ S MS 1 ] = 0 6562.5 13125
[ S MS 2 ] = 0 3888.89 11666.67

13125 35000 0 11666.67 46666.67

0

6562.5 0 13125
[ S MS 3 ] = 0 3.5 105 0

13125 0 35000

3.5 105 + 3.5 105 + 6562.5 0+0+0 0 + 0 + 13125

[ SFF ] = 0+0+0 6562.5 + 3888.89 + 3.5 105 13125 + 11666.67 + 0

0 + 0 + 13125 13125 + 11666.67 + 0 35000 + 46666.67 + 35000

706562.5 0 13125
[ S FF ] = 0 360451.39 1458.33

13125 1458.33 116666.67
45
RajeshKN Dept. of CE, GCEK
 0 0 0 40
0

20

20
{ AFC } = 80
0 20 20
16

0 40 40 0
0 80 80 20


{ AE } = ;
16 0 16
{ AJ } = ; { AC } = { AJ } + { AE } = ; 20
0 0 0
0
0 60 60
{ ARC } = 60
0 60 60 60
0 40 40
40
80 0 80 80

0 40 40
40

46
RajeshKN Dept. of CE, GCEK
 1
706562.5 0 13125 40

[ DF ] = [ S FF ] { AFC } = 0 360451.39 1458.33
1
80
13125 1458.33 116666.67 16

0.142 E - 05 0.646 E - 09 0.160 E - 06 40

[ DF ] = 0.646 E - 09 0.277 E - 05 0.348 E - 07 80

0.160 E - 06 0.348 E - 07 0.859 E - 05 16

0.594 E - 04
[ DF ] =
- 0.222 E - 03
- 0.147 E - 03

{ AR } = { ARC } + [ S RF ][ DF ]
47
RajeshKN Dept. of CE, GCEK
 Summary
Direct stiffness method

Introduction element stiffness matrix rotation transformation

matrix transformation of displacement and load vectors and
stiffness matrix equivalent nodal forces and load vectors
assembly of stiffness matrix and load vector determination of
nodal displacement and element forces analysis of plane truss
beam and plane frame (with numerical examples) analysis of
grid space frame (without numerical examples)

48
RajeshKN Dept. of CE, GCEK