Module 8 - Analysis of Space Frames Using Matrix Stiffness Method
Module 8 - Analysis of Space Frames Using Matrix Stiffness Method
COURSE MATERIAL:
Space frames constitute the most general type of framed structures. The members of
such frames may be oriented in any directions in three-dimensional space and may be
connected by rigid and/or flexible connections. Furthermore, external loads oriented in any
arbitrary directions can be applied to the joints, as well as members, of space frames. Under the
action of external loads, the members of a space frame are generally subjected to bending
moments about both principal axes, shears in both principal directions, torsional moments, and
axial forces.
DEGREES OF FREEDOM
The procedure for assigning numbers to the structure coordinates of a space frame is
similar to that for other types of framed structures, with the degrees of freedom numbered
before the restrained coordinates. In the case of a joint with multiple degrees of freedom (or
restrained coordinates), the translations in the X, Y, and Z directions are numbered first in
sequential order, followed by the rotations about the X, Y, and Z axes, respectively.
[ ]
Fig. 8.1
Fig. 8.1 (continued)
Coordinate Transformation
√( ) ( ) ( ) (8.3)
, - , - , - , -
, - , - , - , -
, - [ ] (8.4)
, - , - , - , -
, - , - , - , -
, - [ ] (8.5)
, - [ ]( ) (8.6)
√
, - √ √ (8.7)
√
[ √ √ ]
For vertical members:
, - [ ] (8.8)
where:
(8.9)
(8.10)
(8.11)
̅ ( ) √ ( ) ( ) (8.13)
√ √
̅ ( ) ( ) (8.14)
√ √
̅
(8.18)
√ ̅ ̅
̅
(8.20)
√ ̅ ̅
Member Details
Beginning
Member End Joint Xe Xb Ye Yb Ze Zb Length (m)
Joint
1 1 3 0.00 0.00 10.00 0.00 0.00 0.00 10.00
2 2 3 0.00 0.00 10.00 10.00 0.00 10.00 10.00
3 3 4 10.00 0.00 10.00 10.00 0.00 0.00 10.00
Member 1 Member Local Stiffness Matrix [k]
Unit 7 8 9 10 11 12 1 2 3 4 5 6
E 30GPa 93000 0 0 0 0 0 -93000 0 0 0 0 0 7
Iy 60000000 mm4 0 38.16 0 0 0 190.80 0 -38.16 0 0 0 190 8
Iz 106000000 mm4 0 0 21.60 0 -108 0 0 0 -21.60 0 -108 0 9
J 129000000 mm4 0 0 0 161.25 0 0 0 0 0 -161.25 0 0 10
G 12.5GPa 0 0 -108 0 720 0 0 0 108 0 360 0 11
A 31000 mm2 0 190.80 0 0 0 1272 0 -190.80 0 0 0 636 12
L 10 m -93000 0 0 0 0 0 93000 0 0 0 0 0 1
rxX = cos θxX 0 0 -38.16 0 0 0 -190.80 0 38.16 0 0 0 -190 2
rxY = cos θxY 1 0 0 -21.60 0 108 0 0 0 21.60 0.00 108 0 3
rxZ = cos θxZ 0 0 0 0 -161.25 0 0 0 0 0 161.25 0 0 4
ψ 90 0 0 -108.00 0 360 0 0 0 108 0 720 0 5
E/L 3
30000 kN/m5 0 190.80 0 0 0 636 0.00 -190.80 0 0 0 1272 6
AL2 3.1 m3
12Iy 0.00072 m4 Transformation Matrix [T]
6LIy 0.0036 m5 7 8 9 10 11 12 1 2 3 4 5 6
12Iz 0.001272 m4 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 7
6LIz 0.00636 m5 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 8
2L2Iy 0.012 m6 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 9
4L2Iy 0.024 m6 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 10
2L2Iz 0.0212 m6 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 11
4L2Iz 0.0424 m6 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 12
JG/L 161.25 kN∙m 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 2
0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 3
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 4
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 5
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 6
Member Global Stiffness Matrix [K]
7 8 9 10 11 12 1 2 3 4 5 6
21.60 0 0 0 0 -108 -21.60 0 0 0 0 -108 7
0 93000 0 0 0 0 0 -93000 0 0 0 0 8
0 0 38.16 190.80 0 0 0 0 -38.16 190.80 0 0 9
0 0 190.80 1272 0 0 0 0 -190.80 636 0 0 10
0 0 0 0 161.25 0 0 0 0 0 -161.25 0 11
-108 0 0 0 0 720.00 108 0 0 0 0 360 12
-21.60 0 0 0 0 108 21.60 0 0 0 0 108 1
0 -93000 0 0 0 0 0 93000 0 0 0 0 2
0 0 -38.16 -190.80 0 0 0 0 38.16 -190.80 0 0 3
0 0 190.80 636 0 0 0 0 -190.80 1272 0 0 4
0 0 0 0 -161.25 0 0 0 0 0 161.25 0 5
-108 0 0 0 0 360 108 0 0 0 0 720 6
d1 0.000089722102457 m
d2 -0.001722361786875 m
d3 -0.000537888566203 m
d4 0.130758861805489 rad
d5 -0.000042330649315 rad
d6 -0.077254257529222 rad
Member 1
{u} = [T]{v} Local Member End Displacement {u}
7 8 9 10 11 12 1 2 3 4 5 6
u1 0.0000000 m 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 7 0.0000000
u2 0.0000000 m 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 8 0.0000000
u3 0.0000000 m 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 9 0.0000000
u4 0.0000000 rad 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 10 0.0000000
u5 0.0000000 rad 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 11 0.0000000
u6 0.0000000 rad 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 12 0.0000000
u7 -0.0017224 m 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1 0.0000897
u8 -0.0005379 m 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 2 -0.0017224
u9 0.0000897 m 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 3 -0.0005379
u10 -0.0000423 rad 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 4 0.1307589
u11 -0.0772543 rad 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 5 -0.0000423
u12 0.1307589 rad 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 6 -0.0772543
{Q} - {Qf} = [k]{u} Local Member End Forces {Q} - {Qf}
7 8 9 10 11 12 1 2 3 4 5 6
Q1 - Qf1 160.1796462 kN 93000 0 0 0 0 0 -93000 0 0 0 0 0 7 0.0000000
Q2 - Qf2 24.9693167 kN 0 38.16 0 0 0 190.80 0 -38.16 0 0 0 190 8 0.0000000
Q3 - Qf3 8.3415218 kN 0 0 21.60 0 -108 0 0 0 -21.60 0 -108 0 9 0.0000000
Q4 - Qf4 0.0068258 kN∙m 0 0 0 161.25 0 0 0 0 0 -161.25 0 0 10 0.0000000
Q5 - Qf5 -27.8018427 kN∙m 0 0 -108 0 720 0 0 0 108 0 360 0 11 0.0000000
Q6 - Qf6 83.2652652 kN∙m 0 190.80 0 0 0 1272 0 -190.80 0 0 0 636 12 0.0000000
Q7 - Qf7 -160.1796462 kN -93000 0 0 0 0 0 93000 0 0 0 0 0 1 -0.0017224
Q8 - Qf8 -24.9693167 kN 0 -38.16 0 0 0 -190.80 0 38.16 0 0 0 -190 2 -0.0005379
Q9 - Qf9 -8.3415218 kN 0 0 -21.60 0 108 0 0 0 21.60 0.00 108 0 3 0.0000897
Q10 - Qf10 -0.0068258 kN∙m 0 0 0 -161.25 0 0 0 0 0 161.25 0 0 4 -0.0000423
Q11 - Qf11 -55.6133754 kN∙m 0 0 -108.00 0 360 0 0 0 108 0 720 0 5 -0.0772543
Q12 - Qf12 166.4279014 kN∙m 0 190.80 0 0 0 636 0.00 -190.80 0 0 0 1272 6 0.1307589
{Q} = [k]{u} + {Qf} Local Member End Forces {Q}
Q1 160.1796462 kN 7
Q2 99.9693167 kN 8
Q3 8.3415218 kN 9
Q4 0.0068258 kN∙m 10
Q5 -27.8018427 kN∙m 11
Q6 270.7652652 kN∙m 12
Q7 -160.1796462 kN 1
Q8 50.0306833 kN 2
Q9 -8.3415218 kN 3
Q10 -0.0068258 kN∙m 4
Q11 -55.6133754 kN∙m 5
Q12 -21.0720986 kN∙m 6
{F} = [T]T{Q} Global Member End Forces {F}
7 8 9 10 11 12 1 2 3 4 5 6
F1 8.3415218 kN 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 7 160.1796462
F2 160.1796462 kN 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 8 99.9693167
F3 99.9693167 kN 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 9 8.3415218
F4 270.7652652 kN∙m 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 10 0.0068258
F5 0.0068258 kN∙m 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 11 -27.8018427
F6 -27.8018427 kN∙m 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 12 270.7652652
F7 -8.3415218 kN 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 1 -160.1796462
F8 -160.1796462 kN 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 2 50.0306833
F9 50.0306833 kN 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 3 -8.3415218
F10 -21.0720986 kN∙m 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 4 -0.0068258
F11 -0.0068258 kN∙m 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 5 -55.6133754
F12 -55.6133754 kN∙m 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 6 -21.0720986
Member 2
{u} = [T]{v} Local Member End Displacement {u}
13 14 15 16 17 18 1 2 3 4 5 6
u1 0.0000000 m 0.00 0.00 -1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 13 0.0000000
u2 0.0000000 m 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 14 0.0000000
u3 0.0000000 m 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 15 0.0000000
u4 0.0000000 rad 0.00 0.00 0.00 0.00 0.00 -1.00 0.00 0.00 0.00 0.00 0.00 0.00 16 0.0000000
u5 0.0000000 rad 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 17 0.0000000
u6 0.0000000 rad 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 18 0.0000000
u7 0.0005379 m 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 -1.00 0.00 0.00 0.00 1 0.0000897
u8 -0.0017224 m 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 2 -0.0017224
u9 0.0000897 m 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 3 -0.0005379
u10 0.0772543 rad 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 -1.00 4 0.1307589
u11 -0.0000423 rad 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 5 -0.0000423
u12 0.1307589 rad 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 6 -0.0772543
{Q} - {Qf} = [k]{u} Local Member End Forces {Q} - {Qf}
13 14 15 16 17 18 1 2 3 4 5 6
Q1 - Qf1 -50.0236367 kN 93000 0 0 0 0 0 -93000 0 0 0 0 0 13 0.0000000
Q2 - Qf2 25.0145162 kN 0 38.16 0 0 0 0 0 -38.16 0 0 0 190.80 14 0.0000000
Q3 - Qf3 0.0026337 kN 0 0 21.60 0 -108 0 0 0 -21.60 0 -108 0 15 0.0000000
Q4 - Qf4 -12.4572490 kN∙m 0 0 0 161.25 0 0 0 0 0 -161.25 0 0 16 0.0000000
Q5 - Qf5 -0.0055490 kN∙m 0 0 -108 0 720 0 0 0 108 0 360 0 17 0.0000000
Q6 - Qf6 83.4912627 kN∙m 0 190.80 0 0 0 1272 0 -190.80 0 0 0 636 18 0.0000000
Q7 - Qf7 50.0236367 kN -93000 0 0 0 0 0.00 93000 0 0 0 0 0 1 0.0005379
Q8 - Qf8 -25.0145162 kN 0 -38.16 0 0 0 -190.80 0 38.16 0 0 0 -190.80 2 -0.0017224
Q9 - Qf9 -0.0026337 kN 0 0 -21.60 0 0 0 0 0 21.60 0 108 0 3 0.0000897
Q10 - Qf10 12.4572490 kN∙m 0 0 0 0 0 0 0 0 0 161.25 0 0 4 0.0772543
Q11 - Qf11 -0.0207881 kN∙m 0 0 -108 0 0 0 0 0 108 0.00 720 0 5 -0.0000423
Q12 - Qf12 166.6538988 kN∙m 0 190.80 0 0 0 636 0 -190.80 0 0 0 1272 6 0.1307589
{Q} = [k]{u} + {Qf} Local Member End Forces {Q}
Q1 -50.0236367 kN 13
Q2 125.0145162 kN 14
Q3 0.0026337 kN 15
Q4 -12.4572490 kN∙m 16
Q5 -0.0055490 kN∙m 17
Q6 250.1579294 kN∙m 18
Q7 50.0236367 kN 1
Q8 74.9854838 kN 2
Q9 -0.0026337 kN 3
Q10 12.4572490 kN∙m 4
Q11 -0.0207881 kN∙m 5
Q12 -0.0127678 kN∙m 6
{F} = [T]T{Q} Global Member End Forces {F}
13 14 15 16 17 18 1 2 3 4 5 6
F1 0.0026337 kN 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 13 -50.0236367
F2 125.0145162 kN 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 14 125.0145162
F3 50.0236367 kN -1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 15 0.0026337
F4 250.1579294 kN∙m 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 16 -12.4572490
F5 -0.0055490 kN∙m 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 17 -0.0055490
F6 12.4572490 kN∙m 0.00 0.00 0.00 -1.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 18 250.1579294
F7 -0.0026337 kN 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 1 50.0236367
F8 74.9854838 kN 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 2 74.9854838
F9 -50.0236367 kN 0.00 0.00 0.00 0.00 0.00 0.00 -1.00 0.00 0.00 0.00 0.00 0.00 3 -0.0026337
F10 -0.0127678 kN∙m 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 4 12.4572490
F11 -0.0207881 kN∙m 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 5 -0.0207881
F12 -12.4572490 kN∙m 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 -1.00 0.00 0.00 6 -0.0127678
Member 3
Fig. 8.9