Module 4 - Truss Structures

Finite Element Method
Truss Structures
Engineer Renato Carvalho | 2024

Índice:
1 Nodal Equilibrium Equations
2 Element Transformation
3 Direct Assembly of Global Stiffness Matrix
4 Boundary Conditions, Constraint Forces
5 Element Strain and Stress
6 Comprehensive Example
7 Three dimensional Trusses
Engineer Renato Carvalho| Page 2

1 Nodal Equilibrium Equations Truss structures are composed of straight elastic
members subjected to axial forces only
Truss Structure
• Structures composed of straight elastic

members subjected to axial forces
only.
• Satisfaction of this restriction requires
that all members of the truss be bar
elements and that the elements be
connected by pin joints such that each
element is free to rotate about the
joint.

1 Nodal Equilibrium Equations Truss structures are composed of straight elastic
members subjected to axial forces only
Let’s get the 2D truss structure shown below to study

𝐷𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑖𝑛 𝑡ℎ𝑒 𝑔𝑙𝑜𝑏𝑎𝑙 𝑋 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑛𝑜𝑑𝑒 𝑖 → 𝑈2𝑖−1
𝐷𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑖𝑛 𝑡ℎ𝑒 𝑔𝑙𝑜𝑏𝑎𝑙 𝑌 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑛𝑜𝑑𝑒 𝑖 → 𝑈2𝑖

1 Nodal Equilibrium Equations We can write nodal equilibrium equations to later find
expressions that relates forces with displacements
1
3

1 Nodal Equilibrium Equations We can write nodal equilibrium equations to later find
expressions that relates forces with displacements
Equilibrium equations for node 1:

1
෍ 𝐹𝑥 = 0 → 𝐹1 − 𝑓1 cos 𝜃1 = 0
1
෍ 𝐹𝑦 = 0 → 𝐹2 − 𝑓1 sin 𝜃1 = 0
and for node 2:

2
෍ 𝐹𝑥 = 0 → 𝐹3 − 𝑓2 cos 𝜃2 = 0
2
෍ 𝐹𝑦 = 0 → 𝐹4 − 𝑓2 sin 𝜃2 = 0
and for node 3:

1 2
෍ 𝐹𝑥 = 0 → 𝐹5 − 𝑓3 cos 𝜃1 − 𝑓3 cos 𝜃2 = 0
1 2
෍ 𝐹𝑦 = 0 → 𝐹6 − 𝑓3 sin 𝜃1 − 𝑓3 sin 𝜃2 = 0

1 Nodal Equilibrium Equations Due to the assumption of small, elastic deformations, we can
consider the angle of inclination of the bar constant
𝒀
Undeformed shape Deformed shape



1 Nodal Equilibrium Equations The 𝒗 displacement components are not associated with
element stiffness, hence not associated with element forces
The 𝒗 displacement components are not associated with element stiffness, hence not
associated with element forces, so we can express the axial deformation of the element as:
The net axial force acting on the element is then:

1 Nodal Equilibrium Equations Remember that forces denoted with lowercase letter f
are forces in local coordinate system
For element 1, we have:
Then, the force is calculated as:

1 Nodal Equilibrium Equations Remember that forces denoted with lowercase letter f
are forces in local coordinate system
Similarly, for element 2:
(2) (2) (2) (2)

𝑈1 = 𝑈3 , 𝑈2 = 𝑈4 , 𝑈3 = 𝑈5 , 𝑈4 = 𝑈6
Then, the force is calculated as:

1 Nodal Equilibrium Equations If we substitute the force expressions in local coordinate system on the nodal
equilibrium equations, we obtain the equilibrium equation in global coordinate system
Equilibrium equations for node 1:

1
෍ 𝐹𝑥 = 0 → 𝐹1 − 𝑓1 cos 𝜃1 = 0
1
෍ 𝐹𝑦 = 0 → 𝐹2 − 𝑓1 sin 𝜃1 = 0
and for node 2:

2
෍ 𝐹𝑥 = 0 → 𝐹3 − 𝑓2 cos 𝜃2 = 0
2 Substitute these equations into the equilibrium equations

෍ 𝐹𝑦 = 0 → 𝐹4 − 𝑓2 sin 𝜃2 = 0
and for node 3:

1 2
෍ 𝐹𝑥 = 0 → 𝐹5 − 𝑓3 cos 𝜃1 − 𝑓3 cos 𝜃2 = 0
1 2
෍ 𝐹𝑦 = 0 → 𝐹6 − 𝑓3 sin 𝜃1 − 𝑓3 sin 𝜃2 = 0

1 Nodal Equilibrium Equations If we substitute the force expressions in local coordinate system on the nodal
equilibrium equations, we obtain the equilibrium equation in global coordinate system

1 Nodal Equilibrium Equations If we represent the set of algebraic equilibrium equations in matrix
form, we obtain the stiffness matrix for the assembly
Which can be written in matrix form as:
And this matrix equation is of the form:

1 Nodal Equilibrium Equations If we represent the set of algebraic equilibrium equations in matrix
form, we obtain the stiffness matrix for the assembly
Which can be written in matrix form as:
We observe that the global stiffness matrix is a 6 × 6 symmetric

matrix corresponding to six possible global displacements.

Índice:

2 Element Transformation We will use a direct method for transforming the stiffness
matrix into global coordinate system in practical applications
Formulation of global finite element equations by

direct application of equilibrium conditions, as in
the previous section, proves to be quite cumbersome
except for the very simplest of models.
A direct method for transforming the stiffness

characteristics on an element-by-element basis is now
developed in preparation for use in the direct
assembly procedure of the following section.


2 Element Transformation The transformation matrix is used to transform displacements
in local coordinate system into global coordinate system
is:
[R] - Transformation matrix of

element axial displacements to
global displacements Engineer Renato Carvalho| Page 20
2 Element Transformation The transformation matrix is used to transform displacements
in local coordinate system into global coordinate system

2 Element Transformation The transformation matrix is also used to transform forces in
local coordinate into global coordinate

2 Element Transformation Using the transformation matrix, we can obtain the stiffness
matrix in global coordinate system
Element stiffness matrix in the

global coordinate system

2 Element Transformation Using the transformation matrix, we can obtain the stiffness
matrix in global coordinate system
Introduction the notation 𝒄 = 𝐜𝐨𝐬 𝜽 and 𝐬 = 𝐬𝐢𝐧 𝜽 and performing the matrix multiplications, we obtain:
Where 𝒌𝒆 = 𝑨𝑬Τ𝑳 is the characteristic axial stiffness of the bar element

2 Element Transformation The stiffness matrix expressed in global coordinate system is
symmetric and singular, as expected
• The stiffness matrix is symmetric.
• The determinant is equal to zero, so the matrix is

singular.

Exercise
Calculate the stiffness matrix in global coordinate system for the given bar element:
𝒀
𝐴 = 600 𝑚𝑚²
𝑿 𝐸 = 200 𝐺𝑃𝑎
𝜃 = 50°
Global coordinate
system

𝐴 = 600 𝑚𝑚²
𝑐𝑜𝑠 50° = 𝑐 = 0.643 𝑐𝑜𝑠 2 50° = 𝑐 2 = 0.413 𝐸 = 200 𝐺𝑃𝑎

𝜃 = 50°
𝑠𝑖𝑛 50° = 𝑠 = 0.766 𝑠𝑖𝑛2 50° = 𝑠 2 = 0.587
𝑠𝑖𝑛 50° 𝑐𝑜𝑠 50° = 𝑠𝑐 = 0.492
𝑘𝑒 = 𝐴𝐸 Τ𝐿 = 600 . 200000Τ500 = 240000 𝑁Τ𝑚𝑚 = 240 𝑘𝑁Τ𝑚𝑚
0.413 0.492 −0.413 −0.492

0.492 0.587 −0.492 −0.587
𝐾𝑒 = 240 kN/mm
−0.413 −0.492 0.413 0.492
−0.492 −0.587 0.492 0.587 Engineer Renato Carvalho| Page 27
Índice:

3 Direct Assembly of Global Stiffness Matrix We now address a method of obtaining the global equilibrium
equations via an element-by-element assembly procedure


3 Direct Assembly of Global Stiffness Matrix Global displacement numbering are referenced to local
displacement numbering of each element
Nodal Displacement Correspondence Table

3 Direct Assembly of Global Stiffness Matrix Our goal is to obtain the stiffness matrix in global coordinate
system in a practical way that can be used for larger systems
Assembly Stiffness matrix in Global Coordinate System
We observe that the global stiffness matrix is a 6 × 6 symmetric

matrix corresponding to six possible global displacements.

3 Direct Assembly of Global Stiffness Matrix The subscript number of each term of the stiffness matrix
refers to the line and column position, respectively
Assembly Stiffness Matrix in Global Coordinate System
(1) (2) (3) (4) (5) (6)

(1) 𝐾11 𝐾12 𝐾13 𝐾14 𝐾15 𝐾16 𝑈1 𝐹1
(2) 𝐾21 𝐾22 𝐾23 𝐾24 𝐾25 𝐾26 𝑈2 𝐹2
(3) 𝐾31 𝐾32 𝐾33 𝐾34 𝐾35 𝐾36 𝑈3 𝐹3
=
(4) 𝐾41 𝐾42 𝐾43 𝐾44 𝐾45 𝐾46 𝑈4 𝐹4
(5) 𝐾51 𝐾52 𝐾53 𝐾54 𝐾55 𝐾56 𝑈5 𝐹5
(6) 𝐾61 𝐾62 𝐾63 𝐾64 𝐾65 𝐾66 𝑈6 𝐹6



Exercise
For the truss shown in the figure below, consider 𝜃1 = 𝜋Τ4 , 𝜃2 = 0 , and the element properties
such that 𝑘1 = 𝐴1 𝐸1 Τ𝐿1 , 𝑘2 = 𝐴2 𝐸2 Τ𝐿2 . Transform the element stiffness matrix of each element
into the global reference frame and assemble the global stiffness matrix.

3 Direct Assembly of Global Stiffness Matrix We will use a direct method for transforming the stiffness

3 Direct Assembly of Global Stiffness Matrix We will use a direct method for transforming the stiffness





3 Direct Assembly of Global Stiffness Matrix A technique that is much more efficient and well-suited to
digital computer operations is now described
Attention!
• The previously described embodiment of the direct stiffness method is

straightforward but cumbersome and inefficient in practice.
• A technique that is much more efficient and well-suited to digital

computer operations is now described.


𝐾11 𝐾12 𝐾13 𝐾14 𝐾15 𝐾16

𝐾21 𝐾22 𝐾23 𝐾24 𝐾25 𝐾26
𝐾31 𝐾32 𝐾33 𝐾34 𝐾35 𝐾36
𝐾41 𝐾42 𝐾43 𝐾44 𝐾45 𝐾46
𝐾51 𝐾52 𝐾53 𝐾54 𝐾55 𝐾56
𝐾61 𝐾62 𝐾63 𝐾64 𝐾65 𝐾66

(1) (2) (3) (4) (5) (6)

(1) (1) (1) (1)
𝑘11 𝑘12 0 0 𝑘13 𝑘14 (1)
(1) (1) (1) (1)
𝑘21 𝑘22 0 0 𝑘23 𝑘24 (2)
(2) (2) (2) (2)
0 0 𝑘11 𝑘12 𝑘13 𝑘14 (3)
𝐾 = (2) (2) (2) (2)
0 0 𝑘21 𝑘22 𝑘23 𝑘24 (4)
(1) (1) (2) (2) (1) (2) (1) (2)
𝑘31 𝑘32 𝑘31 𝑘32 𝑘33 + 𝑘33 𝑘34 + 𝑘34 (5)
(1) (1) (2) (2) (1) (2) (1) (2)
𝑘41 𝑘42 𝑘41 𝑘42 𝑘43 + 𝑘43 𝑘44 + 𝑘44 (6)

For the 2-D truss modeled by spar elements, the

following conventions are adopted: 𝑼𝟐𝒋
• The global nodes at which each element is 𝒋 𝑼𝟐𝒋−𝟏

connected are denoted by 𝑖 and 𝑗.
• The origin of the element coordinate system is

located at node 𝑖 and the element 𝑥 axis has a 𝜃
positive sense in the direction from node 𝑖 to
node 𝑗. 𝑼𝟐𝒊 𝒙
• The global displacements at element nodes are

𝑼𝟐𝒊−𝟏 , 𝑼𝟐𝒊 , 𝑼𝟐𝒋−𝟏 and 𝑼𝟐𝒋 . 𝒊
𝑼𝟐𝒊−𝟏

Element-Node Connectivity Table

Using the nodal data from the element-node connectivity table, we define, for
each element, a 1 x 4 element displacement location vector as:

For the truss assembly we are studying, the element

displacement location vectors are:

Índice:

4 Boundary Conditions, Constraint Forces A more general approach to application of boundary
conditions and computation of reactions is as follows
Having obtained the global stiffness matrix via

either the equilibrium equations or direct
assembly, the system displacement equations for
the example truss are of the form:
In this example, we observe the displacement

boundary conditions:

𝐾11 𝐾12 𝐾13 𝐾14 𝐾15 𝐾16 𝑈1 𝐹1

𝐾21 𝐾22 𝐾23 𝐾24 𝐾25 𝐾26 𝑈2 𝐹2
𝐾31 𝐾32 𝐾33 𝐾34 𝐾35 𝐾36 𝑈3 𝐹3
=
𝐾41 𝐾42 𝐾43 𝐾44 𝐾45 𝐾46 𝑈4 𝐹4
𝐾51 𝐾52 𝐾53 𝐾54 𝐾55 𝐾56 𝑈5 𝐹5
𝐾61 𝐾62 𝐾63 𝐾64 𝐾65 𝐾66 𝑈6 𝐹6

4 Boundary Conditions, Constraint Forces Firstly, we find the active displacements to then find the
reaction forces using the constraint equtions
Use constraint equations

to find reaction forces
Solve the equations of active

displacements and known external forces

4 Boundary Conditions, Constraint Forces The letter c denote constrained displacements and the letter a
denotes active displacements
A more general approach to application of boundary conditions and

computation of reactions is as follows:
• Letting the subscript c denote constrained displacements;
• And subscript a denote unconstrained (active) displacements;
• The system equations can be partitioned to obtain:
(c) (a)
(c) 𝑲𝒄𝒄 𝑲𝒄𝒂 𝑼𝒄 𝑭
= 𝒄
(a) 𝑲𝒂𝒄 𝑲𝒂𝒂 𝑼𝒂 𝑭𝒂

Known displacements, but not

necessarily zero
𝐾𝑐𝑐 𝐾𝑐𝑎 𝑈𝑐 𝐹𝑐
=
𝐾𝑎𝑐 𝐾𝑎𝑎 𝑈𝑎 𝐹𝑎
Known external forces
𝑭𝒄 = [𝑲𝒄𝒄 ] 𝑼𝒄 + 𝑲𝒄𝒂 𝑼𝒂
[𝐾𝑎𝑐 ] 𝑈𝑐 + 𝐾𝑎𝑎 𝑈𝑎 = 𝐹𝑎
𝑼𝒂 = [𝑲𝒂𝒂 ]−𝟏 𝑭𝒂 − [𝑲𝒂𝒄 ] 𝑼𝒄

Índice:

5 Element Strain and Stress The final computational step in finite element analysis of a truss structure is to utilize the global
displacements obtained in the solution step to determine the strain and stress in each element of the truss
(𝒆)
For an element connecting nodes i and 𝑼𝟒 𝒖𝟐
(𝒆)
j, the element nodal displacements in

the element coordinate system are 𝒋 (𝒆)
𝐿(𝑒) 𝑼𝟑
given by:
𝑼𝟐
(𝒆) 𝒙
(𝒆) 𝒊 (𝒆)
𝒖𝟏 𝑼𝟏

5 Element Strain and Stress The continuous displacement function is used to compute the
displacements along the length of the bar
(𝒆)
The continuous displacement function 𝑼𝟒 (𝒆)
𝒖𝟐
is represented by the discretization
𝒋 (𝒆)
𝐿(𝑒) 𝑼𝟑
𝜃
That can be expressed in matrix form as
𝑼𝟐
(𝒆) 𝒙
(𝒆) 𝒊 (𝒆)
𝒖𝟏 𝑼𝟏
Interpolation/Shape Functions

5 Element Strain and Stress Strain is computed as the derivative of displacement
with respect to x

5 Element Strain and Stress Stress is calculated using Hooke’s law that relates stress and
strain using the modulus of Young
(𝒆)
𝑼𝟒 𝒖𝟐
(𝒆)
The element axial stress is then obtained

𝒋 (𝒆)
via application of Hooke’s law as 𝐿(𝑒) 𝑼𝟑
𝑼𝟐
(𝒆) 𝒙
(𝒆) 𝒊 (𝒆)
𝒖𝟏 𝑼𝟏

5 Element Strain and Stress We can use the transformation matrix to transform local
displacements into global displacements
[R] - Transformation matrix of

element axial displacements to
global displacements

5 Element Strain and Stress Strain is computed as the derivative of
displacement with respect to x
(𝑒)
𝑈1
(𝑒)
𝑈2
𝑢(𝑒) 𝑥 = 𝑁1 (𝑥) 𝑁2 (𝑥) [𝑅] (𝑒)
𝑈3
(𝑒)
𝑈4
(𝑒)
𝑈1
(𝑒)
𝑒
𝑑𝑢(𝑒) 𝑥 𝑑 𝑈2
𝜀 = = 𝑁1 (𝑥) 𝑁2 (𝑥) [𝑅] (𝑒)
𝑑𝑥 𝑑𝑥 𝑈3
(𝑒)
𝑈4

5 Element Strain and Stress We can use these expressions to find strain and stress as a
function of node displacements
(𝒆)
𝑼𝟏
(𝒆)
𝒆
𝒅𝒖(𝒆) 𝒙 𝒅 𝑼𝟐
𝜺 = = 𝑵𝟏 (𝒙) 𝑵𝟐 (𝒙) [𝑹] (𝒆)
𝒅𝒙 𝒅𝒙 𝑼𝟑
(𝒆)
𝑼𝟒
(𝒆)
𝑼𝟏
(𝒆)
𝒆 𝒆
𝝈 = 𝑬𝜺 =𝑬 =𝑬 𝑵𝟏 (𝒙) 𝑵𝟐 (𝒙) [𝑹] (𝒆)
(𝒆)
𝑼𝟒

5 Element Strain and Stress Let’s do this simples exercise to practice. In the next session,
we’ll solve a bigger truss structure
The two-element truss in the figure to

the right is subjected to external loading
as shown. Determine the displacement
components of node 3, the reaction force
components at nodes 1 and 2, and the
element displacements, stresses, and
forces. The elements have modulus of
elasticity 𝐸1 = 𝐸2 = 10 𝑥 106 𝑙𝑏/𝑖𝑛² and
cross-sectional areas 𝐴1 = 𝐴2 = 1,5 𝑖𝑛²

5 Element Strain and Stress The characteristic element stiffnesses are calculated using the
cross-section area, modulus of elasticity and bar length

5 Element Strain and Stress The stiffness matrix can be obtained either by application of
nodal equilibrium equations or by the direct method
As the element orientation angles and numbering scheme are

the same as in the two-bar element system used before, we use
the result of that example to write the global stiffness matrix as

5 Element Strain and Stress We can apply the partitioning technique to
facilitate the solution of the matrix equation
𝐾𝑐𝑐 𝐾𝑐𝑎 𝑈𝑐 𝐹𝑐
=
𝐾𝑎𝑐 𝐾𝑎𝑎 𝑈𝑎 𝐹𝑎
𝑈5 −1
5.075 1.325 500
=
𝑈6 1.325 1.325 300


5 Element Strain and Stress Stress can be calculated using the expression that related
stress with nodal global displacements
For element one, the stress can be computed using the following equation:
(𝒆)
𝑼𝟏
(𝒆)
𝒆 𝒆
𝝈 = 𝑬𝜺 =𝑬 =𝑬 𝑵𝟏 (𝒙) 𝑵𝟐 (𝒙) [𝑹] (𝒆)
(𝒆)
𝑼𝟒
(𝑒)
𝑈1
(𝑒)
1 1
𝑑𝑢(1) 𝑥 𝑑 𝑈2
𝜎 = 𝐸1 𝜀 = 𝐸1 = 𝐸1 1 − 𝑥/𝐿1 𝑥/𝐿1 [𝑅(1) ] (𝑒)
𝑑𝑥 𝑑𝑥 𝑈3
(𝑒)
𝑈4



5 Element Strain and Stress The element nodal forces are calculated using the element
equilibrium equations in local coordinate system
The element nodal forces are calculated as

5 Element Strain and Stress A positive value for force/tension means tension and a
negative value means compression

Índice:

6 Comprehensive Example Let’s solve a bigger 2D-truss structure to practice
everything we studied by now
As a comprehensive example of two-dimensional truss analysis, the structure

depicted in the figure below is analyzed to obtain displacements, reaction
forces, strains, and stresses. For each element, 𝑨 = 𝟏. 𝟓 𝒊𝒏2 , 𝑬 = 𝟏𝟎𝒙𝟏𝟎𝟔 𝒑𝒔𝒊

6 Comprehensive Example Step 1: Specify the global coordinate system, assign node
numbers, and define element connectivity
Step 1: Specify the global coordinate system, assign

node numbers, and define element connectivity

Step 2: Compute individual element stiffness values
Step 2: Compute individual element stiffness values:

6 Comprehensive Example Step 3: Transform element stiffness
matrices into the global coordinate system
Step 3: Transform element stiffness








6 Comprehensive Example Step 4a: Construct the element-to-global
displacement correspondence table
Step 4a: Construct the element-to-global

displacement correspondence table.

6 Comprehensive Example Step 4b: Form the element-node connectivity table and the corresponding
element global displacement location vector for each element
Step 4b: Alternatively and more efficiently, form the element-

node connectivity table and the corresponding element global
displacement location vector for each element

Assemble the global stiffness matrix per either Step 4a or 4b
Step 5: Assemble the global stiffness matrix per either Step 4a or 4b.










(1) (2) (5) (6)

(1)
(2)
(5)
(6)

(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12)
3.75(105 ) −3.75(105 ) (1)
(2)
(3)
(4)
−3.75(105 ) 3.75(105 ) (5)
(6)
𝐾 =
(7)
(8)
(9)
(10)
(11)
(12)

6 Comprehensive Example Step 6: Apply the constraints as dictated by the boundary conditions. In
this example, nodes 1 and 2 are fixed so the displacement constraints are
Step 6: Apply the constraints as dictated by the boundary conditions.

In this example, nodes 1 and 2 are fixed so the displacement
constraints are

6 Comprehensive Example Step 6: Apply the constraints as dictated by the boundary conditions. In
this example, nodes 1 and 2 are fixed so the displacement constraints are
Step 6: Apply the constraints as dictated by the boundary conditions.

In this example, nodes 1 and 2 are fixed so the displacement
constraints are
c a 𝑼𝒄
𝑭𝒄
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12)
(1) 0 𝐹1
(2) 0 𝐹2
c (3) 𝑲𝒄𝒄 𝑲𝒄𝒂 0 𝐹3
(4) 0 𝐹4
(5) 𝑈5 0
(6) 𝑈6
= −2000
(7) 𝑈7 0
(8) 𝑈8 0
a (9) 𝑲𝒂𝒄 𝑲𝒂𝒂 𝑈9 𝑭𝒂
2000
(10) 𝑈10 0
(11) 𝑈11 4000
(12) 𝑈12 6000
𝑼𝒂 Engineer Renato Carvalho| Page 99
6 Comprehensive Example Step 7: Solve the equations corresponding to the
unconstrained (active) displacements
Step 7: Solve the equations corresponding to the unconstrained

(active) displacements. For the current example, the equations are
solved using a spreadsheet program, inverting the (relatively small)
global stiffness matrix to obtain
𝑼𝒂 = [𝑲𝒂𝒂 ]−𝟏 𝑭𝒂

6 Comprehensive Example Step 8: Back-substitute the displacement data into the
constraint equations to compute reaction forces
Step 8: Back-substitute the displacement data into the constraint

equations to compute reaction forces.
𝑭𝒄 = 𝑲𝒄𝒂 𝑼𝒂

Step 9: Compute strain and stress in each element
Step 9: Compute strain and stress in each element.

Step 9: Compute strain and stress in each element
Step 9: Compute strain and stress in each element.

Índice:

7 Three dimensional Trusses The unit vector along the element axis can be used to obtain the
cosines that will be used to obtain the element stiffness matrix
The unit vector along the element axis

(i.e., the element reference frame)
expressed in the global system is

7 Three dimensional Trusses Firstly, we write the expressions that related local to global
displacements at each node
Relation between nodal displacements in

local and global coordinate system

7 Three dimensional Trusses The expression can be written in matrix form using the
transformation matrix [R]
Relation between nodal displacements in local and global coordinate system
Transformation matrix [R]

7 Three dimensional Trusses The element stiffness matrix can be obtained using the
transformation matrix too
Following the identical procedure used for the 2-D case, the
element stiffness matrix in the element coordinate system
is transformed into the 3-D global coordinates via

7 Three dimensional Trusses The element stiffness matrix is a 6x6 matrix due to 6 degrees
of freedom (3 displacements per node)
Following the identical procedure used for the 2-D case, the element stiffness matrix
in the element coordinate system is transformed into the 3-D global coordinates via
Where:

7 Three dimensional Trusses In this simple exercise, you’ll notice that to solve a 3-D truss
structure we should follow the same steps as before
Exercise
The three-member truss shown in the figure

is connected by and fixed at nodes 1,
2, and 3. A 5000-lb force is applied at node
4 in the negative Y direction, as shown. Each
of the three members is identical and
exhibits a characteristic axial stiffness of
3 105 𝑙𝑏/𝑖𝑛. Compute the displacement
components of node 4 using a finite
element model with bar elements.

7 Three dimensional Trusses Firstly, we need to define a global coordinate system and
number each node and element

7 Three dimensional Trusses In order to assemble the global stiffness matrix, we can build
the element-to-global displacement correspondence table
Element-to-Global Displacement Correspondence

7 Three dimensional Trusses We can partition the matrix equation to divide the global
stiffness matrix and use just the needed parts
c a 𝑼𝒄
𝑭𝒄
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12)
(1) 0 𝐹1
(2) 0 𝐹2
(3) 0 𝐹3
(4) 𝑲𝒄𝒄 0 𝐹4
c (5) 𝑲𝒄𝒂 0 𝐹5
(6) 0 𝐹6
=
(7) 0 𝐹7
(8) 0 𝐹8
(9) 0 𝐹9 𝑭𝒂
(10) 𝑈10 0
a (11) 𝑲𝒂𝒄 𝑲𝒂𝒂 𝑈11 −5000
(12) 𝑈12 0
𝑼𝒂

7 Three dimensional Trusses We should evaluate each element stiffness matrix using the
unit vector along the element axis to find the cosines



7 Three dimensional Trusses Now we can find the global stiffness matrix terms using the
element-to-global displacement correspondence table

7 Three dimensional Trusses Finally, we can find the active displacements solving the
resultant matrix equation

Thank you for your
attention!

Module 4 - Truss Structures

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Module 4 - Truss Structures

Uploaded by

Copyright:

Available Formats

Finite Element Method

Engineer Renato Carvalho | 2024

1 Nodal Equilibrium Equations

3 Direct Assembly of Global Stiffness Matrix

4 Boundary Conditions, Constraint Forces

5 Element Strain and Stress

7 Three dimensional Trusses

Engineer Renato Carvalho| Page 2

• Structures composed of straight elastic

Engineer Renato Carvalho| Page 3

Let’s get the 2D truss structure shown below to study

Engineer Renato Carvalho| Page 4

Engineer Renato Carvalho| Page 5

Equilibrium equations for node 1:

and for node 2:

and for node 3:

Engineer Renato Carvalho| Page 6

Engineer Renato Carvalho| Page 7

Engineer Renato Carvalho| Page 8

Engineer Renato Carvalho| Page 9

The net axial force acting on the element is then:

Engineer Renato Carvalho| Page 10

For element 1, we have:

Then, the force is calculated as:

Engineer Renato Carvalho| Page 11

Similarly, for element 2:

(2) (2) (2) (2)

Then, the force is calculated as:

Engineer Renato Carvalho| Page 12

Equilibrium equations for node 1:

and for node 2:

2 Substitute these equations into the equilibrium equations

and for node 3:

Engineer Renato Carvalho| Page 13

Engineer Renato Carvalho| Page 14

Which can be written in matrix form as:

And this matrix equation is of the form:

Engineer Renato Carvalho| Page 15

Which can be written in matrix form as:

We observe that the global stiffness matrix is a 6 × 6 symmetric

Engineer Renato Carvalho| Page 16

1 Nodal Equilibrium Equations

3 Direct Assembly of Global Stiffness Matrix

4 Boundary Conditions, Constraint Forces

5 Element Strain and Stress

7 Three dimensional Trusses

Engineer Renato Carvalho| Page 17

Formulation of global finite element equations by

A direct method for transforming the stiffness

Engineer Renato Carvalho| Page 18

Engineer Renato Carvalho| Page 19

[R] - Transformation matrix of

Engineer Renato Carvalho| Page 21

Engineer Renato Carvalho| Page 22

Element stiffness matrix in the

Engineer Renato Carvalho| Page 23

Where 𝒌𝒆 = 𝑨𝑬Τ𝑳 is the characteristic axial stiffness of the bar element

Engineer Renato Carvalho| Page 24

• The stiffness matrix is symmetric.

• The determinant is equal to zero, so the matrix is

Engineer Renato Carvalho| Page 25

Engineer Renato Carvalho| Page 26

𝑐𝑜𝑠 50° = 𝑐 = 0.643 𝑐𝑜𝑠 2 50° = 𝑐 2 = 0.413 𝐸 = 200 𝐺𝑃𝑎

𝑠𝑖𝑛 50° 𝑐𝑜𝑠 50° = 𝑠𝑐 = 0.492