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Truss Structures
http://www.brantacan.co.uk
What is a truss?
•A structure consisting of rods and wires.
•Forces are applied on the nodes (or joints).
•Each element (or member) is under an axial load. No bending or torsion.
•Wikipedia entry on trusses: http://en.wikipedia.org/wiki/Truss
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Today’s Agenda
• Expectation of this chapter
• 2D bar element
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Physical Problem and FEM Models
Idealization of a physical problem to a FEM model.
Analyze the problem and select the type of elements
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2 Node Truss (Bar) element
Given E, A, L for the element
Be careful with the
force / displacement
direction!
d = Δl = u xj − u xi
EA
F = ks d = (u xj − u xi )
l
f xj = F
f xi = − F
f yj = 0 = f yi
• Equilibrium
σxA f xi
• Compatibility Δl
ε=
• all the deformation goes to l
strain – without any crack
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Bar Element Formulation
We can write the above equation in a matrix form
⎡ f xi ⎤ EA ⎡ 1 − 1⎤ ⎡u xi ⎤
⎢ ⎥=
Element stiffness equation
⎢ − 1 1 ⎥ ⎢u ⎥ in local coordinates
f
⎣ ⎦ xj L ⎣ ⎦ ⎣ xj ⎦
f = Ku
EA ⎡ 1 − 1⎤
K= Element stiffness matrix in
L ⎢⎣ − 1 1 ⎥⎦ local coordinates
KT = K Symmetric
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Example 1
Can you solve the stress in each material and displacements?
f1 ,u1 Boundary conditions:
Steel f 2 ,u 2 Aluminum ⎡ f1 ⎤ ⎡ ? ⎤ ⎡ u1 ⎤ ⎡0⎤
1 2 3 f 3 ,u 3 ⎢f ⎥ = ⎢ 0 ⎥ ⎢u ⎥ = ⎢ ? ⎥
⎢ 2⎥ ⎢ ⎥ ⎢ 2⎥ ⎢ ⎥
⎛ EA ⎞ ⎛ EA ⎞ ⎢⎣ f 3 ⎥⎦ ⎢⎣100⎥⎦ ⎢⎣u 3 ⎥⎦ ⎢⎣ ? ⎥⎦
⎜ ⎟ =2 ⎜ ⎟ =1
⎝ L ⎠ Steel ⎝ L ⎠ Al
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1 f xA2 , u xA2
2 f xA3 , u xA3
f xS1 , u xS1 f xS2 , u xS2
Example 1
After the stiffness equation has been written for each element, we can use
the Equilibrium and Compatibility principals to assemble the local element
stiffness equation into a global stiffness matrix equation.
u xS2 = u xA2 = u 2
u xA3 = u 3 By compatibility (there should be no gap at node 2)
u = u1S
x1
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Example 1
We get the following global stiffness matrix equation:
What does this mean kij=0?
⎡ f1 ⎤ ⎡ k −kS 0 ⎤ ⎡ u1 ⎤ ⎡ 2 − 2 0 ⎤ ⎡ u1 ⎤
S
⎢ f ⎥ = ⎢− k S k +kA
S ⎥
− k A ⎥ ⎢⎢u2 ⎥⎥ = ⎢⎢− 2 3 − 1⎥⎥ ⎢⎢u2 ⎥⎥
⎢ 2⎥ ⎢
⎣⎢ f 3 ⎦⎥ ⎢⎣ 0 −kA k A ⎥⎦ ⎣⎢u3 ⎦⎥ ⎣⎢ 0 − 1 1 ⎦⎥ ⎢⎣u3 ⎦⎥
Example 1
Now we have got the global equation, we can use the boundary condition
to solve the unknowns – unknown displacements first, forces next!
⎡ f1 ⎤ ⎡ 2 − 2 0 ⎤ ⎡ u1 ⎤
⎢ f ⎥ = ⎢− 2 3 − 1⎥ ⎢u ⎥ ⎡ f1 ⎤ ⎡ ? ⎤ ⎡ u1 ⎤ ⎡0⎤
⎢ 2⎥ ⎢ ⎥⎢ 2 ⎥ ⎢f ⎥ =⎢ 0 ⎥ ⎢u ⎥ = ⎢ ? ⎥
⎢⎣ f 3 ⎥⎦ ⎢⎣ 0 − 1 1 ⎥⎦ ⎢⎣u3 ⎥⎦ ⎢ 2⎥ ⎢ ⎥ ⎢ 2⎥ ⎢ ⎥
⎢⎣ f 3 ⎥⎦ ⎢⎣100⎥⎦ ⎢⎣u 3 ⎥⎦ ⎢⎣ ? ⎥⎦
⎡ 0 ⎤ ⎡ 3 − 1⎤ ⎡u2 ⎤
⎢100⎥ = ⎢− 1 1 ⎥ ⎢u ⎥
⎣ ⎦ ⎣ ⎦⎣ 3 ⎦
−1
⎡u 2 ⎤ ⎡ 3 − 1⎤ ⎡ 0 ⎤ 1 ⎡1 1⎤ ⎡ 0 ⎤ ⎡ 50 ⎤
⎢u ⎥ = ⎢− 1 1 ⎥ ⎢100⎥ = 2 ⎢1 3⎥ ⎢100⎥ = ⎢150⎥
⎣ 3⎦ ⎣ ⎦ ⎣ ⎦ ⎣ ⎦⎣ ⎦ ⎣ ⎦
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Example 1
Final solution:
⎡ u1 ⎤ ⎡ 0 ⎤
⎢u ⎥ = ⎢ 50 ⎥
⎢ 2⎥ ⎢ ⎥ What is the unit here? nm or m?
⎣⎢u3 ⎦⎥ ⎣⎢150⎦⎥
f1 = k S (u1 − u 2 ) = 2 * (0 − 50) = −100
u2 = 50 u3 = 150
Example 2
Use the same principal as example 1 to
solve the composite bar problem.
Ei , Ai , Li (i = 1 - 6)
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2 Dimensional Bar element
As a special case, we can re-write the previous 1D element formulation into
2D form:
Node displacement
transformation: Global to
local:
u = Tu
Local Global
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2 Dimensional Bar element
Properties of the T
TT T = I
u = Tu u = TT u
f = Tf
f = T Tf
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2 Dimensional Bar element
Globalization of the element stiffness equation
u = Tu f = T Tf
f = Ku = KTu
Element stiffness equation
f = T Tf = TT KTu = Ku in global coordinates
⎡ c2 sc − c 2 − sc ⎤
⎢ ⎥
EA ⎢ sc s 2 − cs − s 2 ⎥
K = T KT =
T
L ⎢− c 2 − cs c 2 sc ⎥
Element stiffness matrix
⎢ ⎥ in global coordinates
⎢⎣ − cs − s s 2 ⎥⎦
2
sc
Example 3
⎛ EA ⎞
⎜ ⎟ = 20
⎝ L ⎠ ⎛ EA ⎞
⎜ ⎟=5
⎝ L ⎠
⎛ EA ⎞
⎜ ⎟ = 10
⎝ L ⎠
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Example 3
Globalized element stiffness equations for the three elements
Example 3
• Compatibility: The node
displacements of all the members meeting
at a node must be the same!
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Example 3
Expanded element stiffness equations for the three elements to a global matrix
Example 3
Assemble the contribution of each element together to form the
global stiffness matrix equations:
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Example 3
Apply the boundary conditions:
Example 3
Apply the boundary conditions to the global matrix equations:
•We can take away the horizontal rows because of the corresponding forces
are unknown
•We can take away the vertical columns because the corresponding
displacements are zero
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Example 3
After eliminating the corresponding columns and rows, we obtain a
reduced global stiffness equations
Inverse the
matrix
Example 3
Once displacements are solved, we can calculate the unknown
nodal forces:
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More Complicated Example
• Verification
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FEM Terminology
• Degree of freedom (DOF)
• stiffness matrix
Initialize variable
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Comments
• You are learning FEM not FEA in this course
Questions to Think!
• What is the physical meaning of stiffness?
• Will the choice of local coordinate influences the global results? Read
page 41-42 of Ottosen’s book to get the answer.
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