Derivation of Beam Element

Stiffness Matrix Numerically

T
g ⎛⎝a0 , a1 , a2 , a3⎞⎠ ≔ ⎡⎣ a0 a1 a2 a3 ⎤⎦ X ((x)) ≔ ⎡⎣ 1 x x 2 x 3 ⎤⎦

Assume a displacement function v(x):

v ((x)) ≔ X ((x)) ⋅ g ⎛⎝a0 , a1 , a2 , a3⎞⎠ → a3 ⋅ x 3 + a2 ⋅ x 2 + a1 ⋅ x + a0

d
θ ((x)) ≔ ―― v ((x)) → 3 ⋅ a3 ⋅ x 2 + 2 ⋅ a2 ⋅ x + a1
dx

Calculate degrees of freedom displacement in terms of generalized co-ordinates:

v ((0)) → a0 θ ((0)) → a1

v ((L)) → a3 ⋅ L 3 + a2 ⋅ L 2 + a1 ⋅ L + a0 θ ((L)) → 3 ⋅ a3 ⋅ L 2 + 2 ⋅ a2 ⋅ L + a1

⎡1 0 0 0 ⎤ ⎡ a0 ⎤
⎢0 ⎥ ⎢ ⎥
1 0 0 a1
A≔⎢ ⎥ d ≔ A ⋅ g ⎛⎝a0 , a1 , a2 , a3⎞⎠ → ⎢ ⎥
2
⎢1 L L L3 ⎥ ⎢ a3 ⋅ L 3 + a2 ⋅ L 2 + a1 ⋅ L + a0 ⎥
⎢⎣ 0 1 2 L 3 L2 ⎥⎦ ⎢ 2 ⎥
⎣ 3 ⋅ a3 ⋅ L + 2 ⋅ a2 ⋅ L + a1 ⎦

⎡ 1 0 0 0 ⎤
⎢ 0 1 0 0 ⎥ T
⎢ ⎥ d ⎛⎝v1 , θ1 , v2 , θ2⎞⎠ ≔ ⎡⎣ v1 θ1 v2 θ2 ⎤⎦
⎢ 3 2 3 1⎥
A → -――
-1 -― ―― -―
⎢ L2 L L2 L⎥
⎢ 2 1 2 1 ⎥
⎢ ―――― -―― ―― ⎥
3
⎢⎣ L L2 L 3 L 2 ⎥⎦

Calculate shape function matrix, v(x) = X*g = X*(inverse(A)*d) = X*N where N= inverse(A)*d:
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 Derivation of Beam Element
Stiffness Matrix Numerically
Calculate shape function matrix, v(x) = X*g = X*(inverse(A)*d) = X*N where N= inverse(A)*d:

⎡ 2 ⋅ x3 ⎛ 3 ⋅ x2 ⎞ x3 ⎛ 2 ⋅ x2 ⎞ 2 ⋅ x3 3 ⋅ x2 x3 x2 ⎤
N ((x)) ≔ X ((x)) ⋅ A -1 → ⎢ ―― 3
+ ⎜1 - ―― ⎟ ――+ ⎜x - ―― ⎟ -―― + ―― ―― - ― ⎥
⎣ L ⎝ L2 ⎠ L2 ⎝ L ⎠ L3 L2 L2 L ⎦

Displacement field in terms of nodal dofs:

v1 ⋅ ⎛⎝2 ⋅ x 3 - 3 ⋅ L ⋅ x 2 + L 3 ⎞⎠ θ2 ⋅ ⎛⎝x 3 - L ⋅ x 2 ⎞⎠ θ1 ⋅ ⎛⎝x 3 - 2 ⋅ L ⋅ x 2 + L 2 ⋅ x⎞⎠ v2 ⋅ ⎛⎝3 ⋅ L ⋅ x 2 - 2 ⋅ x 3 ⎞⎠

v ((x)) ≔ N ((x)) ⋅ d ⎛⎝v1 , θ1 , v2 , θ2⎞⎠ → ―――――――― + ――――― + ―――――――― + ―――――――
L3 L2 L2 L3

Obtain strain-displacement matrix B(x):

⎛ d2 ⎞ d2 ⎡ 12 ⋅ x - 6 ⋅ L 6 ⋅ x 4 -((12 ⋅ x)) + 6 ⋅ L 6 ⋅ x 2 ⎤
ρ ≔ ⎜―― N ((x))⎟ ⋅ d ⎛⎝v1 , θ1 , v2 , θ2⎞⎠ B ((x)) ≔ ―― N ((x)) → ⎢ ―――― ―― - ― ――――― ―― - ―⎥
⎜⎝ d x
2
⎟⎠ dx2
⎣ L3 L2 L L3 L2 L⎦

⎡ 12 6 12 6 ⎤
⎢ ―― 3
―― -―― ―― ⎥
⎢ L L2 L3 L2 ⎥
L ⎢ 6 4 6 2 ⎥
⎢ ―― ― -―― ―⎥
⌠ T
L 2
L L 2
L
M ((L)) ≔ ⎮
⌡ B ((x)) ⋅ B ((x)) d x → ⎢ 12 ⎥ K ((E , I , L)) ≔ E ⋅ I ⋅ M ((L))
⎢ -―― 6 12 6 ⎥
0 -―― ―― 2 -――
⎢ L3 L2 L3 L ⎥
⎢ ⎥
⎢ ――6 2 6 4 ⎥
― -―― ―
⎢⎣ L 2 L L2 L ⎥⎦

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 Derivation of Beam Element
Stiffness Matrix Numerically

Transformation of variables from x to ξ :

L d L
x ((ξ)) ≔ ―((ξ + 1)) ―― x ((ξ)) → ―
2 dξ 2

Recalculate strain-displacement matrix in terms of ξ :

⎡ 6 ⋅ ((ξ + 1)) - 6 3 ⋅ ((ξ + 1)) 4 -((6 ⋅ ((ξ + 1)))) + 6 3 ⋅ ((ξ + 1)) 2 ⎤ simplify ⎡ 6 ⋅ ξ 3 ⋅ ξ - 1 -((6 ⋅ ξ)) 3 ⋅ ξ + 1 ⎤
B ((x ((ξ)))) → ⎢ ―――― ―――- ― ――――― ―――- ―⎥ ――― → ⎢ ―― ―――――― ――― ⎥
⎣ L2 L L L2 L L⎦ ⎣ L
2
L L2 L ⎦

Perform integration in terms of ξ numerically:

L 1
⌠ T L ⌠ T
⎮
⌡ B (
(x)
) ⋅ B ((x)) d x ―⎮ B (
(x (
(ξ )
))
) ⋅ B ((x ((ξ)))) d ξ
0
2 ⌡ -1

1 simplify ⎡ 2 ⋅ ‾‾
3 ‾‾ ⎛ ⎞
3 - 1 -⎝2 ⋅ ‾‾
3⎠ ‾‾ ⎤
3 +1 ⎥
ξ1 ≔ ―― B ⎛⎝x ⎛⎝ξ1⎞⎠⎞⎠ ――― → ⎢ ――― ――― ―――― ―――
‾‾
3 ⎢⎣ L 2 L L2 L ⎥⎦

-1 simplify ⎡ -⎛⎝2 ⋅ ‾‾⎞

3 ⎠ - ‾‾
3 - 1 2 ⋅ ‾‾
3 - ‾‾
⎤
3 +1 ⎥
ξ2 ≔ ―― B ⎛⎝x ⎛⎝ξ2⎞⎠⎞⎠ ――― → ⎢ ―――― ――― ――― ―――
‾‾
3 ⎢⎣ L2 L L2 L ⎥⎦
⎡ 12 6 12 6 ⎤
⎢ ―― 3
―― -―― ―― ⎥
⎢ L L2 L3 L2 ⎥
⎢ 6 4 6 2 ⎥
⎢ ―― ― -―― ―⎥
L ⎛ T T ⎞ simplify L 2
L L 2
L
M ((L)) ≔ ―⎝B ⎛⎝x ⎛⎝ξ1⎞⎠⎞⎠ ⋅ B ⎛⎝x ⎛⎝ξ1⎞⎠⎞⎠ + B ⎛⎝x ⎛⎝ξ2⎞⎠⎞⎠ ⋅ B ⎛⎝x ⎛⎝ξ2⎞⎠⎞⎠⎠ ――― →⎢ ⎥ K ((E , I , L)) ≔ E ⋅ I ⋅ M ((L))
2 12
⎢ -―― 6 12 6 ⎥
-―― ―― -――
⎢ L3 L2 L3 L2 ⎥
⎢ ⎥
⎢ ――6 2 6 4 ⎥
― -―― ―
⎢⎣ L 2 L L2 L ⎥⎦

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