Stiffness Method

10/14/08 Stiffness Method 1

Definition:
For an element, a stiffness matrix k̂

is a matrix such that f̂ = k̂ d̂

where k̂ relates local coordinates ( x̂, ŷ , ẑ )

And nodal displacements d̂

to local forces f̂ of a single element.

10/14/08 Stiffness Method 2
 x̂ notation denotes
local coordinates
Boldface type indicates matrices.

10/14/08 Stiffness Method 3

 Spring Element

1 2
x̂
f̂1x̂ ,d̂1x̂ f̂ 2 x̂ ,d̂ 2 x̂

10/14/08 Stiffness Method 4

 Definitions

k - spring constant
node x̂ local
coordinate
node direction
f̂1x̂ local nodal force f̂ 2 x̂ local nodal force
d̂ 1x̂ deg ree of freedom d̂ 2 x̂ deg ree of freedom

10/14/08 Stiffness Method 5

Examples of Stiffness
 Uniaxial Bar k = AE/L
 Circular Torsion k = GJ/L
 One-dimensional heat conduction
k = AKxx/L
 One-dimensional fluid flow (porous
medium) k = AKxx/L

10/14/08 Stiffness Method 6

 Stiffness Relationship for a
Spring

f̂1x   k 11 k 12  d̂ 1x 
 =   
f̂ 2 x  k 21 k 22  d̂ 2 x 

10/14/08 Stiffness Method 7

Steps in Process

1. Discretize and Select Element Type

2. Select a Displacement Function
3. Define Strain/Displacement and
Stress/Strain Relationships
4. Derive Element Stiffness Matrix & Eqs.
5. Assemble Equations and Introduce
B.C.’s
6. Solve for the Unknown Degrees of
Freedom
7. Solve for Element Stresses and Strains
10/14/08 Stiffness Method 8
General Steps
 Outlined on Previous Slide
 Derive Stiffness Matrix
 Illustrate Usage for Spring
Assemblies

10/14/08 Stiffness Method 9

 Step 1 - Select the
Element Type

1 2 T
T
x̂
d̂1x̂ d̂ 2 x̂

10/14/08 Stiffness Method 10

Step 2 - Select a Displacement
Function
Assume a displacement function
û
Assume a linear function.
û = a1 + a 2 x̂
Number of coefficients = number of
d-o-f
Write in matrixa1  form.
û = [ 1 x̂]  
a 2 
10/14/08 Stiffness Method 11
 Express û as function of d̂1x and d̂ 2 x

û(0) = a1 + a 2 (0) = d̂ 1x = a1
û(L ) = a1 + a 2 (L ) = d̂ 2 = a 2 L + d̂ 1x

d̂ 2 x − d̂1x
Solve for a2 : a2 =
L

10/14/08 Stiffness Method 12

 Substituting back into: û = a1 + a 2 x̂
 d̂ 2 x − d̂ 1x 
Yields: û =   x̂ + d̂1x

 L 

10/14/08 Stiffness Method 13

In matrix form:

 x̂ x̂  d̂1x 
û = 1 −   
 L L  d̂ 2 x 
d̂ 1x 
û = [ N 1 N 2 ] 
d̂ 2 x 
Where :
x̂ x̂
N1 = 1 − and N2 =
L L
10/14/08 Stiffness Method 14
Shape Functions

N1 and N2 are called Shape Functions or

Interpolation Functions. They express the
shape of the assumed displacements.
N1 =1 N2 =0 at node 1
N1 =0 N2 =1 at node 2
N1 + N2 =1

10/14/08 Stiffness Method 15

 N1

1 2

10/14/08 Stiffness Method 16

 N2

1 2

10/14/08 Stiffness Method 17

 N1 N2

1 2

10/14/08 Stiffness Method 18

 Step 3 - Define
Strain/Displacement and
Stress/Strain Relationships

T = kδ
δ = û(L ) − û(0)
δ = d̂ 2 x − d̂ 1x
T - tensile force δ - total elongation
10/14/08 Stiffness Method 19
Deformed Linear Spring
Element

1 2

d̂1x̂
d̂ 2 x̂
L

10/14/08 Stiffness Method 20

Element Stiffness Matrix
and Equations

f̂1x = −T
f̂ 2 x = T
(
T = −f̂1x = k d̂ 2 x − d̂ 1x )
(
T = f̂ 2x = k d̂ 2 x − d̂1x )
(
f̂1x = k d̂1x − d̂ 2 x )
f̂ 2 x = k ( d̂ 2x − d̂1x )
10/14/08 Stiffness Method 21
 f̂1x   k − k  d̂ 1x 
 =   
f̂ 2x   − k k  d̂ 2 x 

[] k
k̂ = 
− k
k 
− k

10/14/08 Stiffness Method 22

 Step 5 - Assemble the Element
Equations to Obtain the Global
Equations and Introduce the B.C.

[ K ] = ∑ [ k̂ ]
N
(e )

e =1

{ F} = ∑ { f̂ }
N
(e )

e =1

10/14/08
Note: not simple addition!
Stiffness Method 23
 Step 6 - Solve for Nodal
Displacements

Obtain :
[ K ] { d} = { F}
Then Solve!

10/14/08 Stiffness Method 24

Step 7 - Solve for Element
Forces

Once displacements at each

node are known, then substitute
back into element stiffness equations
to obtain element nodal forces.

10/14/08 Stiffness Method 25

Two Spring Assembly

2
1
1 3 2
x
F3x F2x
k1 k2

10/14/08 Stiffness Method 26

 For element 1 :
f̂1x   k 1 − k 1  d̂1x 
 =   
f̂ 3 x   − k 1 k 1  d̂ 3 x 

For element 2 :
f̂ 3 x   k 2 − k 2  d̂ 3 x 
 =   
f̂ 2 x   − k 2 k 2  d̂ 2 x 

10/14/08 Stiffness Method 27

 Elements 1 and 2 remain connected
at node 3. This is called the continuity
or compatibility requirement.

(1) ( 2)
d 3x = d 3x = d 3x

10/14/08 Stiffness Method 28

 Assemble Global force matrix

(1 ) ( 2)
F3x = f̂ 3x + f̂ 3 x
( 2)
F2x = f̂ 2x
(1 )
F1x = f̂1x

10/14/08 Stiffness Method 29

 Nodal forces consistent with
element force sign convention.

2
1 3 2
1
F1x f 3(1x) f 3( 2x ) F2x
f1(x1) f 2( 2x)

F3x

10/14/08 Stiffness Method 30

 F3x = −k 1d1x + k 1d 3x + k 2 d 3 x − k 2 d 2x
F2x = −k 2 d 3x + k 2 d 2 x
F1x = k 1d 1x − k 1d 3 x
in matrix form :
 F1x   k 1 0 − k 1   d 1x 
     
F2x  =  0 k2 − k 2  d 2 x 
F   − k − k2 k 1 + k 2  d 3 x 
 3x   1
or
[ F] = [ K ]{ d}
10/14/08 Stiffness Method 31
Global Force Matrix : Global Displacement Matrix :
 F1x   d1x 
   
F2 x  d 2 x 
   
 F3x  d 3x 

Global Stiffness Matrix :

 k1 0 − k1 
 
 0 k2 − k2 
 
− k1 − k 2 k1 + k 2 

10/14/08 Stiffness Method 32

Assembly of [K] -
An Alternative Look.

2
1
1 3 2
x
F3x F2x
k1 k2

10/14/08 Stiffness Method 33

 Assembly of [K]
d̂1x d̂ 3 x
(1 )  k1 − k1 
[k ]=  
− k 1 k1 

d̂ 3x d̂ 2x
( 2)  k2 − k2
[k ]=  
− k 2 k2 
10/14/08 Stiffness Method 34
Expand Local [k] matrices
to Global Size


 1 0 − 1 d̂ 1x
(1 )   (1 ) 
f 1x
   (1)   (1) 
k 1  0 0 0  d̂ 2 x  = f 2 x 
 − 1 0 1  d̂ (31x)  f 3(1x) 
   
0 0 0  1x d̂ ( 2)   ( 2) 
f 1x
   ( 2)   ( 2) 
k 2 0 1 − 1 d̂ 2 x  = f 2 x 
0 − 1 1  d̂ (32x)  f 3( 2x) 
10/14/08
  
Stiffness Method
 35
 Force Equilibrium

f (1)   0   F1x 
1x
   ( 2)   
 0  + f 2 x  = F2 x 
f (1)  f ( 2 )  F 
 3x   3x   3x 

10/14/08 Stiffness Method 36

  1 0 − 1 d1x   ˆ (1)

   (1) 
k1  0 0 0  dˆ 2 x 
  
 − 1 0 1  d 3x ˆ (1)

0 0  ˆ
0  d1x   F1x 
(2)

   ( 2 )   
+ k 2 0 1 − 1 dˆ 2 x  = F2 x 
    
0 − 1 1  dˆ 3x  F3x 
( 2 )

10/14/08 Stiffness Method 37

 k1 0 − k1  d 1x   F1x 
    
 0 k2 − k2  d 2 x  = F2 x 
− k 1 − k2    
k 1 + k 2  d 3 x  F3 x  


10/14/08 Stiffness Method 38

 Compatibility

d̂ (1)  d̂ ( 2 )  d 

1x 1x 1x
 (1)   ( 2 )   
d̂ 2x  = d̂ 2 x  = d 2x 
d̂ (1)  d̂ ( 2 )  d 
 3x   3 x   3x 

10/14/08 Stiffness Method 39

Boundary Conditions
 Must Specify B.C.’s to prohibit rigid
body motion.
 Two type of B.C.’s
 Homogeneous - displacements = 0
 Nonhomogeneous - displacements =
nonzero value

10/14/08 Stiffness Method 40

 Partitioning
Let d 1 be the uncontrained or free displacements
and let d 2 be the constrained or specified displacements.

 K 11 M K 12   d1   F1 
 L L L   L   L 
     
 K 21 M K 22   d 2   F 
 2

K 11 d1  F1  K 12 d 2
F 2  K 21 d1  K 22 d 2
10/14/08 Stiffness Method 41
 2
1
1 3 2
x
F3x F2x
k1 k2

10/14/08 Stiffness Method 42

 k1 0 − k1   0   F1x 
    
 0 k2 − k2  d 2 x  =  F2x 
− k 1 − k2 k1 + k 2  d 3x  F3 x 
 

 k2 − k2  d 2x  F2 x 
− k   = 
 2 k 1 + k 2  d 3x  F3 x 

F1x = −k 1 d 3 x
10/14/08 Stiffness Method 43
Homogeneous B.C.’s
 Delete row and column
corresponding to B.C.
 Solve for unknown displacements.
 Compute unknown forces
(reactions) from original
(unmodified) stiffness matrix.

10/14/08 Stiffness Method 44

Nonhomogeneous B.C.’s

 k1 0 − k1   δ   F1x 
    
 0 k2 − k2  d 2x  = F2 x 
− k 1 − k2 k1 + k 2  d 3x  F3 x 
 

10/14/08 Stiffness Method 45

Nonhomogeneous B.C.’s

 k2 − k2  d 2x   F2x 
− k  = 
 2 k1 + k 2  d 3x  k 1δ + F3x 

10/14/08 Stiffness Method 46

Nonhomogeneous B.C.’s
 Transfer terms associated with
known d-o-f to RHS.
 Solve for unknown displacements.
 Compute unknown forces
(reactions) from original
(unmodified) stiffness matrix.

10/14/08 Stiffness Method 47

 Properties of [K] Matrix
 Symmetric - both element [k] and
global [K]
 [K] is singular. Must apply B.C. to
prohibit rigid body motion.
 Terms on main diagonal are positive Kii
and k11

10/14/08 Stiffness Method 48

EXAMPLE: Three Spring
Assembly

k1=1000 lb/in k2=2000 lb/in k3=3000 lb/in

1 3 4 2 x

1 2 5000 lb 3

10/14/08 Stiffness Method 49

 [k ] (1 )  1000 − 1000
= 
 − 1000 1000 

[k ] ( 2)  2000 − 2000
= 
 − 2000 2000 

[k ] ( 3)  3000 − 3000
= 
 − 3000 3000 
10/14/08 Stiffness Method 50
  1000 0 − 1000 0 
 0 3000 0 − 3000 
[ K] =  
 − 1000 0 1000 + 2000 − 2000 
 
 0 − 3000 − 2000 2000 + 3000

10/14/08 Stiffness Method 51

 1000 0 − 1000 0  d 1x   F1x 
 0 3000 0 − 3000  d  F 
   2x  =  2x 
 − 1000 0 3000 − 2000 d 3x  F3x 
 
 0 − 3000 − 2000 5000  d 4x  F4x 

10/14/08 Stiffness Method 52

 d 1x = d 2 x = 0
0 0 0  d1x   F1x 
0
0 0 0    
0  d 2 x  F2x  
  = 
0 0 3000 − 2000 d 3 x  F3x 
 
0 0 − 2000 5000  d 4x  F4 x 

 3000 − 2000 d 3x   0 
 − 2000 5000  d  = 5000
   4x   

10/14/08 Stiffness Method 53

 d 3 x = 10 in
11
d 4 x = 15 in
11
 1000 0 − 1000 0   0   F1x 
 0   0   
 3000 0 − 3000 F
 10  =  2 x 
 − 1000 0 3000 − 2000  11 F3 x 
  15  
 0 − 3000 − 2000 5000   11 F4 x 
 F1x   − 909.1 
F  − 4090.9
 2x   
 = 
F3 x   0 
F4 x   5000 
10/14/08 Stiffness Method 54
Element 1
 1000 − 1000  0  f̂1x 
 − 1000 1000  10  =  
   11 f̂ 3 x 
f̂1x  − 909.1
 = 
f̂
  3 x  909.1 

1
3 909.1 lb
909.1 lb 1
x̂

10/14/08 Stiffness Method 55

Element 2
 2000 − 2000 10 
  11 f̂ 3x 
 − 2000 2000  15  =  
   11 f̂ 4 x 
f̂ 3x  − 909.1
 = 
f̂ 4 x   909.1 
2
4 909.1 lb
909.1 lb 3
x̂

10/14/08 Stiffness Method 56

 Element 3
 3000 − 3000 15  f̂ 4 x 
 − 3000 3000   11 =  
   0  f̂ 2x 
f̂ 4 x   4090.9 
 = 
f̂ 2x  − 4090.9
3 4090.9 lb
4090.9 lb 4 2
x̂

10/14/08 Stiffness Method 57

EXAMPLE
Nonhomogeneous B.C.

k k k k
2 3 4
1 5 x

1 2 3 4
δ
k=200 kN/m

10/14/08 Stiffness Method 58

[k ]=[k ]=[k ]=[k ]
(1) ( 2) ( 3) ( 4)  200 − 200
= 
 − 200 200 

10/14/08 Stiffness Method 59

  200 − 200 0 0 0 
 − 200 400 − 200 0 0 
 
[ K] =  0 − 200 400 − 200 0 
 
 0 0 − 200 400 − 200
 0 0 0 − 200 200 

10/14/08 Stiffness Method 60

 200 − 200 0 0 0  d1x   F1x 
 − 200 400 − 200 0 0  d  F 
   2 x   2 x 
 0 − 200 400 − 200 0  d 3 x  = F3 x 
   F 
 0 0 − 200 400 − 200 d
  4x   4x 
 0 0 0 − 200 200  d 5 x  F5 x 

10/14/08 Stiffness Method 61

d 1x = 0
d 5 x = 20 mm = 0.02 m
F2 x = F3 x = F4 x = 0
 200 − 200 0 0 0   0   F1x 
 − 200 400 − 200 0 0 d   0 
   2 x   
 0 − 200 400 − 200 0   d 3x  =  0 
    0 
 0 0 − 200 400 − 200 d
  4x   
 0 0 0 − 200 200  0.02 F5 x 

10/14/08 Stiffness Method 62

  0 
 
 − 200 400 − 200 0 0  d 2x
   
0
 0 − 200 400 − 200 
0   d 3 x  = 0 

 0 0 − 200 400 − 200  d 4 x  0
 
0.02

10/14/08 Stiffness Method 63

  400 − 200 0  d 2 x  0
 − 200 400 − 200 d  = 0
   3x   
 0 − 200 400  d 4 x  4
d 2 x  0.005 m 
   
d 3 x  =  0.01 m 
d  0.015 m 
 4x   

10/14/08 Stiffness Method 64

 200 − 200 0 0 0   0   F1x 
 − 200 400 − 200    F 
 0 0  .005  2 x 
   
 0 − 200 400 − 200 0   .01  = F3 x 
   F 
 0 0 − 200 400 − 200  .015
  4x 
 0 0 0 − 200 200   .02  F5 x 
 F1x  − 1.0 kN
F   0.0 kN 
 2 x   
F3 x  =  0.0 kN 
F   0.0 kN 
 4x   
F5 x   1.0 kN 
10/14/08 Stiffness Method 65
Element 1
 200 − 200  0  f̂1x 
 − 200 200  .005 =  
   f̂ 2 x 
f̂1x  − 1.0 kN
 = 
f̂
 2x   1.0 kN 
1 1.0 kN
1.0 kN 1 2
x̂

10/14/08 Stiffness Method 66

Three Spring Assembly
k2

k1 3
2
P 2 x
k3
2
1
1 4
2
3
Rigid Bar

10/14/08 Stiffness Method 67

 B.C. : d 1x = d 3x = d 4x = 0
(1) (2) (3)
Compatibility : d 2x = d 2x = d 2x

(1)
Nodal equilibriu m : F1x = f1x
(1) (2) (3)
P = f 2x + f 2x + f 2x
(2)
F3x = f 3x
(3)
F4x = f 4x

10/14/08 Stiffness Method 68

 Free Body Diagram
(1) (1)
F1x (1)
f1x f1x f 2x

1 1 2
1

10/14/08 Stiffness Method 69

 Free Body Diagram

(2)
f 2x

(1)
f 2x P

(3)
f 2x

10/14/08 Stiffness Method 70

 Free Body Diagram
2 3 (2)
f 3x F3x
3
2

2 4 (3)
f 4x F4x
4
3

10/14/08 Stiffness Method 71

Matrix Form of Stiffness Equations

 k1 − k1 0 0  d 1x   F1x 
− k k1 + k 2 + k 3 − k2    
− k 3  d 2 x  F2 x  
 1  = 
 0 − k2 k2 0  d 3 x  F3 x 
 
 0 − k3 0 k 3  d 4 x  F4 x 

10/14/08 Stiffness Method 72

 Applying B.C.

 k1 − k1 0 0   0   F1x 
− k k1 + k 2 + k 3 − k2    
− k 3  d 2 x   P 
 1  = 
 0 − k2 k2 
0  0  F3 x 
 
 0 − k3 0 k 3   0  F4 x 

10/14/08 Stiffness Method 73

0 0 0 0  0   F1x 
0 k + k + k 0    
0 d 2 x   P  
 1 2 3
 = 
0 0 0 0  0  F3 x 
 
0 0 0 0  0  F4 x 

( k 1 + k 2 + k 3 ) d 2x = P
P
d 2x =
(k1 + k 2 + k 3 )
10/14/08 Stiffness Method 74
 Solving for Global Forces

F1x = −k 1d 2 x
F2 x = −k 2 d 2 x
F3 x = −k 2 d 2 x

10/14/08 Stiffness Method 75

Potential Energy Approach
 Equilibrium at minimum potential
energy.
 Total potential energy defined as
the sum of internal strain energy U
and potential energy of external
forces Ω.
 πp = U + Ω

10/14/08 Stiffness Method 76

 System
F

x
k

10/14/08 Stiffness Method 77

 Force-Deformation Curve

10/14/08 Stiffness Method 78

 dU = F dx
F=kx
dU = k x dx
U = ∫ k x dx
1 2 1 1
U = kx = (kx)x = Fx
2 2 2
Ω = −Fx
1 2
π p = kx − Fx
2
10/14/08 Stiffness Method 79
 Stationary Value

G = G( x)
Stationary value can be maximun,
minimum, or a neutral point
defined as value of x such that :
dG
=0
dx

10/14/08 Stiffness Method 80

 Stationary Values
G

maximum

neutral

minimum
x
10/14/08 Stiffness Method 81
 Stationary Value

π p = π p (d 1 , d 2 ,  , d n ) = π p ({d i })
First variation of π p (denoted as δπp )
is used to minimize π p

10/14/08 Stiffness Method 82

Principle of Minimum Potential Energy:

Equilibrium occurs when the di define

a state such that δπ p = 0 for arbitrary
admissible variations in δd1 from the
equilibrium state

10/14/08 Stiffness Method 83

 Admissible Variations in Displacements

An admissible variation is one in which the

displacement field satisfies the boundary
conditions and inter-element continuity.

10/14/08 Stiffness Method 84

 Admissible Displacements
u

Admissible Displacement Function

u+ δu

δu

Actual Displacement Function

x
10/14/08 Stiffness Method 85
 For Admissible Variations
in Displacements
∂π p ∂π p ∂π p
δπp = δd 1 + δd 2 +  δd n
∂d 1 ∂d 2 ∂d n
δπp = 0
∂π p ∂π p ∂π p
= 0, = 0,  , =0
∂d 1 ∂d 2 ∂d n

10/14/08 Stiffness Method 86

 For Admissible Variations
in Displacements
∂π p
=0 ( i = 1,2,3,, n )
∂d 1

or

∂π p
=0
∂{ d}
10/14/08 Stiffness Method 87
 F F

x
k
k = 500 lb/in

10/14/08 Stiffness Method 88

 πp = U + Ω
1 2
U = kx
2
Ω = −Fx
∂π p
δπp = δx = 0
∂x
10/14/08 Stiffness Method 89
 ∂π p
=0
∂x
∂π p
= 500x − 1000 = 0
∂x
x = 2.00 in
π p = −1000 lb − in

10/14/08 Stiffness Method 90

 PE
10000
π p = 250x 2 − 1000x
8000

Deformation Potential Energy

6000
-4.00 8000
-3.00 5250
-2.00 3000 4000
-1.00 1250
0.00 0
2000
1.00 -750
2.00 -1000
3.00 -750 0 x

4.00 0 -4.00 -2.00 0.00 2.00 4.00 6.00 8.00

-2000

10/14/08 Stiffness Method 91

EXAMPLE

k1=1000 lb/in k2=2000 lb/in k3=3000 lb/in

1 3 4 2 x

1 2 5000 lb 3

10/14/08 Stiffness Method 92

 3
1
πp = ∑ (e )
πp = k 1 ( d 3x − d 1x ) 2

e =1
2
1 2 1
+ k 2 ( d 4x − d 3x ) + k 3 ( d 2x − d 4x ) 2
2 2
(1) (1) ( 2) ( 2)
− f1x d 1x − f 3x d 3x − f 3x d 3x − f 4x d 4x
( 3) ( 3)
− f 4x d 4x − f 2x d 2x

10/14/08 Stiffness Method 93

∂π p (1)
= − k 1 d 3 x + k 1 d 1x − f 1x =0
∂d 1x
∂π p ( 3)
= k 3 d 2x − k 3 d 4x − f 2x =0
∂d 2 x
∂π p (1) ( 2)
= k 1d 3x − k 1d 1x − k 2 d 4x + k 2 d 3x − f 3x − f 3x =0
∂d 3 x
∂π p ( 2) ( 3)
= k 2 d 4x − k 2 d 3x − k 3 d 2x + k 3 d 4x − f 4x − f 4x =0
∂d 4 x

10/14/08 Stiffness Method 94

 k1 0 − k1 0 
 1x d   f (1)
1x

    
 0 k3 0 − k 3  d 2 x   f2(x3) 
   =  
 − k1 0 k1 + k 2 − k 2  d 3x   f3x + f3x 
(1) ( 2)

    
 0 − k3 − k2 k 2 + k 3  d 4 x  f4 x + f4 x 
(2) ( 3)

 f1(x1)   F1x 
   
 f2(x3)  F2 x 
 (1) ( 2 )  =  
f3x + f3x  F3x 
   
f4 x + f4 x  F4 x 
(2) ( 3)

10/14/08 Stiffness Method 95