Structural

Analysis
R. C. Hibbeler
6th Edition
in SI Units

Teaching Slides
Chapter 16
Plane Frame analysis using
the stiffness method

1
 Outline
 Frame-member stiffness matrix
 Displacement & Force transformation
matrices
 Frame-member global stiffness matrix
 Application of the stiffness method for frame
analysis

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 16-1 Frame-member stiffness
matrix
 In this section, we will develop the stiffness
matrix for a prismatic frame member
reference from the local x’, y’, z’ coordinate
system, Fig 16.1
 The member is subjected to axial loads qNx’.
qFy’, shear loads qNy’, qFy’ and bending
moment qNz’, qFz’ at its far end respectively
 These loadings all act in the +ve coordinate
directions along with their associated disp

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 16-1 Frame-member stiffness
matrix

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 16-1 Frame-member stiffness
matrix
 By superposition, if these results are added,
the resulting 6 load-disp relations for the
member can be expressed in matrix form as

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 16-1 Frame-member stiffness
matrix
 Or in abbreviated form:

q  k'd eqn 16.2

 The member stiffness matrix k’ consists of 36
influence coefficients that physically rep the
load on the member when the member
undergoes a specified unit disp
 From the assembly, both eqm & compatibility
of disp have been satisfied

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 16-2 Displacement & force
transformation matrices
 We must be able to transform the internal
member loads q & deformations d from local
x’, y’, z’ coordinates to global x, y, z
coordinates
 Disp transformation matrix
 Consider the frame member shown in Fig
16.2(a)

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 16-2 Displacement & force
transformation matrices

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 16-2 Displacement & force
transformation matrices
 Disp transformation matrix (cont’d)
 It is seen that a global coordinate system
DNz creates local coordinate disp
d N x '  D N x cos  x ; d N y '   D N x cos  y
 A global coordinate disp DNy, Fig 16.2(b)
creates a local coordinate disp of
d N x '  D N y cos  y ; d N y '  D N y cos  x
 Since the z’ and z axes are coincident
d N z '  DN z

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 16-2 Displacement & force
transformation matrices
 Disp transformation matrix (cont’d)
 The resulting transformation eqn are:

d Fx '  DFx cos  x ; d Fy '   DFx cos  y

d Fx '  DFy cos  y ; d Fy '  DFy cos  x

d Fz '  DFz

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 16-2 Displacement & force
transformation matrices
 Disp transformation matrix (cont’d)
 x  cos  x ;  y  cos  y
 We can write the superposition of disp in
matrix form as:

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 16-2 Displacement & force
transformation matrices
 Or d = TD
 T transforms the 6 global x, y, z disp D into
the 6 local x’, y’, z’ disp d
 T is referred to as the disp transformation
matrix

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 16-2 Displacement & force
transformation matrices
 Force transformation matrix
 Applying QNx’, Fig 16.3(a) it can be seen
that:
QN x  q N x ' cos  x ; QN y  q N x ' cos  y

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 16-2 Displacement & force
transformation matrices
 If is applied, Fig 16.3(b), then:
QN x   q N y ' cos  y ; QN y  q N y ' cos  x

 Since qNz’ is collinear with QNz, we have:

QN z  q N z '

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 16-2 Displacement & force
transformation matrices
 Force transformation matrix (cont’d)
 These eqn, assembled in matrix form with
 x  cos  x ;  y  cos  y

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 16-2 Displacement & force
transformation matrices
 Or Q = TTq eqn 16.6
 TT transforms the 6 member loads
expressed in local coordinates into the 6
loadings expressed into global coordinates
 The results of the previous section will now be
combined in order to determine the stiffness
matrix for a member that relates the global
loadings Q to the local disp D

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 16-3 Frame-member global
stiffness matrix
 To do this sub eqn 16.4 into eqn 16.2, we
have:
q  k ' TD eqn 16.7

Q  T T k'TD eqn 16.8

Q  kD where k  T T k'T eqn 16.9

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 16-3 Frame-member global
stiffness matrix
 k rep the global stiffness matrix for the
member

 This 6x6 matrix symmetric

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 16-3 Frame-member global
stiffness matrix
 The location of each element is associated
with the coding at the near end, Nx, Ny, Nz
followed by that of far end Fx, Fy, Fz

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 16-4 Application of stiffness
method for frame analysis
 Once the member stiffness matrices are
established, they may be assembled into the
structure stiffness matrix in the usual manner
 Lateral loads acting on a member, fabrication
errors, temp changes, inclined supports &
internal supports are handled in the same
manner as was outlined for trusses & beams

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 Example 16.1
 Determine the loadings at the joints of the 2-
member frame shown in Fig 16.4(a)
 Take for both members:
 E = 200GPa

 I = 180(106)mm4

 A = 6000 mm4

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 Example 16.1

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 Example 16.1 - solution
 The frame has 2 elements & 3 nodes which
are identified as shown in Fig 16.4(b)
 The origin of the global coordinate system is
located at 1
 From the constraints at 1 & 3, we have:
20 1
0  6  0 2
Dk  0 8
7
Qk   0  3
0  0 4
0 9  0  5

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 Example 16.1 - solution
 The following terms are common to both
element stiffness matrices
AE 6(10 3 )(200)(10 6 )
  200(10 3 )kN / m
L 6

12 EI 12(200)(10 6 )(180)(10 6 )
3
 3
 2kN / m
L 6

6 EI 6(200)(10 6 )(180)(10 6 )
2
 2
 6kN / m
L 6

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 Example 16.1 - solution
4 EI 4(200)(10 6 )(180)(10 6 )
  24(10 3 )kN / m
L 6

2 EI 2(200)(10 6 )(180)(10 6 )
  12(10 3 )kN / m
L 6

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 Example 16.1 - solution
 Member 1
60 00
x   1 y  0
6 6
 Sub the data into eqn 16.10, we have:

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 Example 16.1 - solution
 Member 2
66 6  0
x   0 y   1
6 6
 Sub the data into eqn 16.10, we have:

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 Example 16.1 - solution
 The structure stiffness matrix is determined by
assembling k1 and k2
 The result is:

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 Example 16.1 - solution
 Expanding to determine the disp yields:

 Solving we obtain:
 17.51(10 3 )m 
 D1   6 
 D2  - 37.47(10 )m 
 D3    2.505(10 3 )rad 
 D4   17.51(10 3 )m 
 D5  
  1.243(10 3 )rad 
 
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 Example 16.1 - solution
 Using these results, the support reactions are
determined from eqn (1) as follows:
Q6    7.50kN 
Q7    20kN 
Q8    7.50kN 
Q9   75kNm 

 The internal loadings at node 2 can be

determined by applying eqn 16.7 to member 1

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 Example 16.1 - solution
 Here k1’ is defined by eqn 16.1 and T1 by eqn
16.3, thus

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 Example 16.1 - solution
 The appropriate arrangement of the elements
in the matrices as indicated by the code
numbers alongside the columns & rows
 Solving yields:
q 4   0 
q6   7.50kN 
 q5   0 

q1   0 
q2   7.50kN 
q   45kNm 
 3  

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 Example 16.1 - solution
 The above results are shown in Fig 16.4(c)
 In a similar manner, the free-body diagram of
member 2 is shown in Fig 16.4(d)

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