Chapter 3

Fundamentals of the Stiffness

Method of Structural Analysis
Objectives
• To present the fundamental ideas of the stiffness method of analysis
• To develop the formalized approach for the stiffness method
 The Stiffness Method
Introduction
• The primary unknowns are joint displacements (kinematic redundants)
• A typical analysis starts with the alteration of the original structure to produce a
kinematically determinate structure
• The stiffness method is more conducive for computer implementation, hence,
• It constitutes the primary method adopted in computer-aided analyses of framed
structures

2
 The Stiffness Method
Illustration case 1
Consider the analysis of the statically- and kinematically-indeterminate beam
shown

In the application of the stiffness method, the first step is to alter the original
structure by creating a restrained structure that is kinematically-determinate
(compare this with the first step in flexibility method; creating a released structure
that is statically-determinate).
Analysis of the restrained structure along with those corresponding to unit
displacements yield results that are used in action equations to solve the problem.
3
 The Stiffness Method
Illustration case 1
𝑤𝐿2
From Table B-1, 𝑀𝐵 =
12
Fig. 1:
Original Now, determine the action MB caused
structure by the kinematic redundant B, as in
Fig. 3 (using Table B-4)

Fig. 2:
4𝐸𝐼
𝑀𝐵 = 𝜃𝐵
Restrained 𝐿
structure under
original load Superimposing the actions in Fig. 2
and 3 produces the actions on the
original beam. Thus
Fig. 3:
Restrained structure
with action applied
𝑤𝐿2 4𝐸𝐼 𝑤𝐿3
= 𝜃𝐵 ⇒ 𝜃𝐵 =
corresponding to the 12 𝐿 48𝐸𝐼
kinematic redundant 4
 The Stiffness Method
Illustration case 1 (Systematic)
Alternatively, we can determine the action
MB caused by a unit kinematic redundant
Fig. 1: B, as in Fig. 4
Original 4𝐸𝐼
structure 𝑚𝐵 =
𝐿
Following the sense of the k. redundant,
Fig. 2: 𝑤𝐿2
Restrained 𝑀𝐵 = −
structure under 12
By superposition,
original load
𝑀 = 𝑀𝐵 + 𝑚𝐵 𝜃𝐵 = 0, or
Fig. 4:
Restrained structure 𝑤𝐿2 4𝐸𝐼 𝑤𝐿3
with action applied − + 𝜃𝐵 ⇒ 𝜃𝐵 =
corresponding to a unit 12 𝐿 48𝐸𝐼
of kinematic redundant 5
 The Stiffness Method
Illustration case 1 (Systematic)
Similarly, we can determine the reaction R
by superposition as
Fig. 1:
Original 𝑅 = 𝑅𝐴 + 𝑟𝐴 𝜃𝐵
structure
Using expressions from Tables B-1 and B-4,

Fig. 2: 𝑤𝐿 6𝐸𝐼 𝑤𝐿3 5𝑤𝐿

Restrained 𝑅= + 2 =
structure under
2 𝐿 48𝐸𝐼 8
original load
Member end actions and any other quantity
Fig. 4: of interest can be determined in the same
Restrained structure manner
with action applied
corresponding to a unit
of kinematic redundant 6
 The Stiffness Method
Illustration case 2
Consider the analysis of the statically- and kinematically-indeterminate beam
shown

The beam has more than one kinematic redundant. The analysis can proceed in the
same manner as before but more elaborately

7
 The Stiffness Method
Illustration case 2
Note that all original loads are applied on the restrained
structure except those corresponding to the unknown
displacements (k. redundants)
The equations of action superposition to be solved are:

𝐴𝐷1 𝐴𝐷𝐿1 𝑆11 𝑆12 𝐷1

= +
𝐴𝐷2 𝐴𝐷𝐿2 𝑆21 𝑆22 𝐷2
𝐀D = 𝐀DL + 𝐒𝐃 ⇒ 𝐃 = 𝐒 −1 𝐀D − 𝐀DL
Thereafter, member end actions and support reactions
can be obtained, as
𝐀M = 𝐀ML + 𝐀MD 𝐃; 𝐀R = 𝐀RL + 𝐀RD 𝐃
8
 The Stiffness Method
Illustration case 2
For the present case,
𝑃𝐿 𝑃𝐿 𝑃𝐿 𝑃𝐿
𝐴𝐷𝐿1 = − + =− , 𝐴𝐷𝐿2 =−
4 8 8 8
𝐴𝐷𝐿1 𝑃𝐿 −1
⇒ 𝐴𝐷𝐿 = =
𝐴𝐷𝐿2 8 −1
𝑃𝐿 𝑃 3𝑃
𝐴𝑅𝐿1 = 𝑃; 𝐴𝑅𝐿2 = 𝐴𝑅𝐿3 =𝑃+ =
4 2 2
𝐴𝑅𝐿1 4
𝑃 𝑃 𝐴𝑅𝐿2 𝑃 𝐿
𝐴𝑅𝐿3 = −𝑃 =− ⇒ 𝐴𝑅𝐿 = =
2 2 𝐴𝑅𝐿3 4 6
𝐴𝑅𝐿4 −2
9
 The Stiffness Method
Illustration case 2
Assuming that the member end actions to be obtained
are shear force and moment at the end B of member
AB (AM1, AM2) and member BC (AM3, AM4). Then, we
need to obtain the corresponding values on the
restrained structure, as

𝑃𝐿 𝑃 𝑃𝐿
𝐴𝑀𝐿1 = 𝑃; 𝐴𝑀𝐿2 =− ; 𝐴𝑀𝐿3 = ; 𝐴𝑀𝐿4 =
4 2 8

𝐴𝑀𝐿1 8
𝐴𝑀𝐿2 𝑃 −2𝐿
⇒ 𝐀ML = =
𝐴𝑀𝐿3 8 4
𝐴𝑀𝐿4 𝐿
10
 The Stiffness Method
Illustration case 2 Stiffness, reaction and end-action coefficients:

4𝐸𝐼 4𝐸𝐼 8𝐸𝐼 2𝐸𝐼

𝑆11 = + = ; 𝑆21 = 𝑆21 = ;
𝐿 𝐿 𝐿 𝐿
4𝐸𝐼 2𝐸𝐼 4 1
𝑆22 = ; ⇒ 𝐒=
𝐿 𝐿 1 2
6𝐸𝐼
0
𝐿2
2𝐸𝐼 6 0
0 𝐸𝐼 2𝐿
𝐿 0
𝐴 =
𝑅𝐷 = 2
6𝐸𝐼 𝐿 0 6
0 −6 −6
𝐿2
6𝐸𝐼 6𝐸𝐼
− 2 − 2
Member stiffnesses for a beam member 𝐿 𝐿
11
 The Stiffness Method
Illustration case 2 Stiffness, reaction and end-action coefficients:

6𝐸𝐼
− 2 0
𝐿
4𝐸𝐼 −6 0
0 𝐸𝐼 4𝐿
𝐿 0
𝐴𝑀𝐷 = = 2
6𝐸𝐼 6𝐸𝐼 𝐿 6 6
𝐿2 𝐿2 4𝐿 2𝐿
4𝐸𝐼 2𝐸𝐼
𝐿 𝐿

Member stiffnesses for a beam member 12

 The Stiffness Method
Illustration case 2
2𝐸𝐼 4 1 𝑃𝐿 −1
𝐒= 𝐀𝐷𝐿 =
𝐿 1 2 8 −1

𝑃𝐿
𝐀𝐷 =
Solve for displacements 0
𝐀𝐷 = 𝐀𝐷𝐿 + 𝐒𝐃 ⇒ 𝐃 = 𝐒 −1 𝐀𝐷 − 𝐀𝐷𝐿
𝐿 1 2 −1 𝑃𝐿 𝑃𝐿 −1 𝑃𝐿2 17
𝐃= − =
2𝐸𝐼 7 −1 4 0 8 −1 112𝐸𝐼 −5
Therefore, the joint rotations at B and C are
17𝑃𝐿2 5𝑃𝐿2
𝐷1 = , 𝐷2 = −
112𝐸𝐼 112𝐸𝐼
13
 The Stiffness Method
Illustration case 2
8 −6 0
𝑃 −2𝐿 𝐸𝐼 4𝐿 0
𝐀ML = 𝐀MD = 2
8 4 𝐿 6 6
𝐿 4𝐿 2𝐿

Solve for member end-actions 𝑃𝐿2 17

𝐃=
𝐀M = 𝐀ML + 𝐀MD 𝐃; 112𝐸𝐼 −5

8 −6 0 5
2
𝑃 −2𝐿 𝐸𝐼 4𝐿 0 𝑃𝐿 17 𝑃 20𝐿
𝐀M = + 2 =
8 4 𝐿 6 6 112𝐸𝐼 −5 56 64
𝐿 4𝐿 2𝐿 36𝐿

14
 The Stiffness Method
Illustration case 2
4 6 0
𝑃 𝐿 𝐸𝐼 2𝐿 0
𝐀RL = 𝐀RD = 2
4 6 𝐿 0 6
−2 −6 −6

Solve for support reactions 𝑃𝐿2 17

𝐃=
𝐀R = 𝐀RL + 𝐀RD 𝐃; 112𝐸𝐼 −5

4 6 0 107
2
𝑃 𝐿 𝐸𝐼 2𝐿 0 𝑃𝐿 17 𝑃 31𝐿
𝐀R = + 2 =
4 6 𝐿 0 6 112𝐸𝐼 −5 56 69
−2 −6 −6 −64

15
 The Stiffness Method
Application Example 1
Consider the beam shown, having all members with the same flexural rigidity EI.
Carry out the analysis of the beam using the stiffness method. As a part of the
analysis, determine the member end-actions (V and M) at the left end of member
AB and at the left end of member BC. Additionally, determine the reactions at
supports B and C. Take wL = P and M = PL.

16
 The Stiffness Method
Application Example 1 2
𝑃𝐿 𝑤 1.5𝐿 𝑃𝐿
𝐴𝐷𝐿1 =− + =
Vector ADL 8 12 16
2
𝑤 1.5𝐿 𝑤𝐿2 5𝑃𝐿
𝐴𝐷𝐿2 =− + =−
12 12 48
𝑃𝐿 3
⇒ 𝐴𝐷𝐿 =
48 −5

17
 The Stiffness Method
Application Example 1 Vectors AML and ARL 𝑃
2
𝑃𝐿 8
8 𝑃 2𝐿
𝐀ML = 3𝑤𝐿 =
16 12
4 3𝐿
3𝑤𝐿2
16

3𝑃 3𝑤𝐿
+ 𝑃 9
𝐴𝑅𝐿 = 2 4 =
5𝑤𝐿 4 5
4
18
 The Stiffness Method
Application Example 1 Stiffness, reaction and end-action coefficients

4𝐸𝐼 4𝐸𝐼 20𝐸𝐼

𝑆11 = 𝑆22 = + = ;
𝐿 1.5𝐿 3𝐿
2𝐸𝐼 4𝐸𝐼 4𝐸𝐼 5 1
𝑆21 = 𝑆21 = = ⇒ 𝐒=
1.5𝐿 3𝐿 3𝐿 1 5

10𝐸𝐼 8𝐸𝐼
−
𝐴𝑅𝐷 = 3𝐿2 3𝐿2 = 2𝐸𝐼 −5 4
8𝐸𝐼 10𝐸𝐼 3𝐿2 −4 5
− 2
3𝐿 3𝐿2

19
 The Stiffness Method
Application Example 1 Stiffness, reaction and end-action coefficients:

6𝐸𝐼
0
𝐿2
2𝐸𝐼 9 0
0 2𝐸𝐼 3𝐿 0
𝐴𝑀𝐷 = 𝐿 = 2
8𝐸𝐼 8𝐸𝐼 3𝐿 4 4
3𝐿2 3𝐿2 4𝐿 2𝐿
8𝐸𝐼 4𝐸𝐼
3𝐿 3𝐿

20
 The Stiffness Method
Application Example 1
4𝐸𝐼 5 1 𝑃𝐿 3
𝐒= 𝐀𝐷𝐿 =
3𝐿 1 5 48 −5

0
𝐀𝐷 =
Solve for displacements −𝑃𝐿
𝐀𝐷 = 𝐀𝐷𝐿 + 𝐒𝐃 ⇒ 𝐃 = 𝐒 −1 𝐀𝐷 − 𝐀𝐷𝐿
3𝐿 1 5 −1 0 𝑃𝐿 3 𝑃𝐿2 7
𝐃= − =
4𝐸𝐼 23 −1 5 −𝑃𝐿 48 −5 384𝐸𝐼 −53
Therefore, the joint rotations at B and C are
7𝑃𝐿2 53𝑃𝐿2
𝐷1 = , 𝐷2 = −
384𝐸𝐼 384𝐸𝐼
21
 The Stiffness Method
Application Example 1
8 9 0
𝑃 2𝐿 2𝐸𝐼 3𝐿 0
𝐀ML = 𝐀MD = 2
16 12 3𝐿 4 4
3𝐿 4𝐿 2𝐿

Solve for member end-actions

𝑃𝐿2 7
𝐀M = 𝐀ML + 𝐀MD 𝐃; 𝐃=
384𝐸𝐼 −53

8 9 0 351
2
𝑃 2𝐿 2𝐸𝐼 3𝐿 0 𝑃𝐿 7 𝑃 93𝐿
𝐀M = + 2 =
16 12 3𝐿 4 4 384𝐸𝐼 −53 576 248
3𝐿 4𝐿 2𝐿 30𝐿

22
 The Stiffness Method
Application Example 1
𝑃 9 2𝐸𝐼 −5 4
𝐀RL = 𝐀RD = 2
4 5 3𝐿 −4 5

𝑃𝐿2 7
𝐃=
Solve for support reactions 384𝐸𝐼 −53
𝐀R = 𝐀RL + 𝐀RD 𝐃;

2
𝑃 9 2𝐸𝐼 −5 4 𝑃𝐿 7 𝑃 1049
𝐀R = + 2 =
4 5 3𝐿 −4 5 384𝐸𝐼 −53 576 427

23
 The Stiffness Method
Application Example 2
Consider the plane truss shown, having each member i inclined at angle γi, with
length Li, self-weight wi, and axial rigidity EAi. Carry out an analysis of the truss
using the stiffness method. As a part of the analysis, determine the member end-
actions at ends A, B, C, and D.

To start with,

𝑃1
𝐀𝐷 =
𝑃2

24
 The Stiffness Method
Application Example 2 For each member,
𝑤𝑖 𝐿𝑖
Vector ADL 𝐴𝐷𝐿1 = 0; 𝐴𝐷𝐿2 =
2
0 0
⇒ 𝐴𝐷𝐿 = 𝑤 𝐿 𝑤 𝐿 𝑤 𝐿 𝑤 𝐿 = 𝑊
1 1 2 2 3 3 4 4
+ + +
2 2 2 2 2

End-actions for
restrained truss member
25
 The Stiffness Method
Application Example 2 𝑤𝑖 𝐿𝑖
For each member, 𝐴𝑀𝐿𝑖 = sin 𝛾𝑖
2
Vector AML

End-actions for
restrained truss member
26
 The Stiffness Method
Application Example 2
Stiffness and end-action coefficients

Illustration of the structural joint stiffness

27
 The Stiffness Method
Application Example 2 Stiffness and end-action coefficients

Member stiffnesses
for a plane truss
member

28
 The Stiffness Method
Application Example 2 Stiffness and end-action coefficients

29
 The Stiffness Method
Application Example 2
Now, let P1 = 0, P2 = −P, wL = P/10; EA, L is constant, and
0
then, 𝐀𝐷 =
−𝑃

Solving for displacements

and member end-actions,

𝐀M = 𝐀ML + 𝐀MD 𝐃 =
𝐃 = 𝐒 −1 𝐀𝐷 − 𝐀𝐷𝐿 =

30
 Formalization of The Stiffness Method
Formalization Requirements
• As done with the flexibility method, it is important to formalize the
application of the stiffness method for efficient analysis processes.
• Although the formalized approach is not computationally efficient, the
materials offer a good background for the more direct method of assembling
the stiffness matrix, leading to the development of a ‘computer-oriented direct
stiffness method’.
• We start again with the development of stiffness matrix for an individual
member of a framed structural system.
• Additionally, the previous definition of the member-oriented axis (local
coordinates) system (xM, yM, zM) for an individual member, and the structure-
oriented axis (global coordinates) system (x, y, z) for the entire framed
structure, remains the same here.
31
 Formalization of The Stiffness Method
Stiffnesses of Prismatic Members (Beam)

Recall …

32
 Formalization of The Stiffness Method
Stiffnesses of Prismatic Members (Truss)

Recall …

33
 Formalization of The Stiffness Method
Stiffnesses of Prismatic Members (Plane frame)

34
 Formalization of The Stiffness Method
Stiffnesses of Prismatic Members (Grid)

35
 Formalization of The Stiffness Method
Stiffnesses of Prismatic Members (Space frame)

36
 The Formalized Stiffness Method
The main idea of the formalization process is to relate the member stiffnesses in the
local system to the global system along with the global-level joint actions and
displacements. For an individual member,

Then, for all members in the structure,

‘Unassembled’
structural
stiffness

37
 The Formalized Stiffness Method

This equation presents the member-oriented action equation, relating the vector
AM, a collection of local (or member-oriented) end actions to the displacement
through the unassembled structural stiffness SM.
There is a need to transform the vector DM to the global system through a
transformation operator CMJ. Thus,

The structure-oriented action equation is given by

Using the principle of virtual work, it can be shown that

‘Assembled’ (structural) joint stiffness
38
 The Formalized Stiffness Method

The joint displacement vector DJ, joint stiffness matrix SJ, and action vector AJ
can all be partitioned into components pertaining to free (unknown) joint
displacements DF (or k-redundants) and restrained (known) displacements DR as

⇒
39
 The Formalized Stiffness Method
For a complete analysis, it is required to evaluate the member end actions AM
and the support reactions AR.

Partial member end actions

Complete member end actions

Note the inclusion of the combined (equivalent and actual) loads ARC applied
directly at supports. It is also important to note the inclusion of the member
fixed end actions AML, a vector of fixed-end actions due to loads applied to the
members.

40
 The Formalized Stiffness Method
Application Example 1
The two-span continuous beam shown is subjected to a uniform load w = 4P/L in
span AB and two concentrated forces P in span BC. Both members have the same
length L, but the flexural rigidity of member AB is twice that of member BC. There
is an upward support displacement δ at B. Carry out a complete analysis of the
beam using the formalized stiffness approach.

41
 The Formalized Stiffness Method
Application Example 1

In accordance with the developed ideas,

the following steps are taken

(i) Restrained structure, equiv. joint loads & displacements (ii) Unassembled joint stiffness

42
 The Formalized Stiffness Method
Application Example 1

(iii) Unit values of joint displacements;

compatibility matrix

43
 The Formalized Stiffness Method
Application Example 1
(iv) Assembled joint stiffness; k-redundants

44
 The Formalized Stiffness Method
Application Example 1
(v) Support reactions

45
 The Formalized Stiffness Method
Application Example 1
(vi) Member end actions

46
 The Formalized Stiffness Method
Application Example 2
Using the formalized stiffness approach, analyze the plane truss shown for the
vertical load and the horizontal support displacements. Members 1 through 4 have
equal cross-sectional areas equal to A, while each of members 5 and 6 has cross-
sectional areas equal to 2 𝐴 . For the analysis, selectively determine only the
horizontal reactions at B.

47
 The Formalized Stiffness Method
Application Example 2 (ii) Unit values of joint displacements; compatibility matrix

(i) Unassembled joint stiffness

Where I6 = Identity matrix of order 6

48
 The Formalized Stiffness Method
Application Example 2
(iii) Assembled joint stiffness; k-redundants

49
 The Formalized Stiffness Method
Application Example 2
0
(iv) Support reactions

0
(v) Member end actions

50
 The Formalized Stiffness Method
Application Example 3

The rectangular plane frame, having

prismatic members, are subjected to the j
k k k
lateral force P, as shown. Using the
formalized stiffness approach, analyze
the plane truss shown for the lateral load.
Simplify the analysis by neglecting axial j j
strains, and selectively determining only
the joint displacements and member end
actions (at their k ends).

51
 The Formalized Stiffness Method
Application Example 3 (ii) Unit values of joint displacements; compatibility matrix

(i) Unassembled joint stiffness

52
 The Formalized Stiffness Method
Application Example 3
(iii) Assembled joint stiffness submatrix SFF; k-redundants

0 0
(iv) Member end actions

53