Chapter 3 - Self Assesment Truss Structure

Mechatronics Engineering Department
Faculty of Engineering
National University of Sciences and Technology
EM 415
SPECIAL TOPICS IN MECHATRONICS
CHAPTER 3 EXAMPLE
Mr. Anas Bin Aqeel
Department of Mechatronics Engineering
National University of Sciences and Technology
Pakistan

Instructions

This file is based on Chapter 3 Example 2 given in your notes. It is taken from a previous exam paper.

Open the file in Powerpoint and launch slideshow (from menu: Slideshow - from Beginning or click at the bottom right of
the window)

The example is broken down into a series of steps to illustrate how to tackle a question like this. At various points, you will be
given multiple choice questions to work through which will show you how to develop the stiffness matrix for each element,
construct the global stiffness matrix and solve to determine the displacement and stresses of the elements.

Click on the Start button to progress
Start
First draw a sketch of the finite element model, and label the nodes and elements. In this case, the
nodes are already labelled, but we will add element numbers to make it clearer in the next steps which
element we are referring to. We will also define the global co-ordinate system.
Stage 1
A pin jointed frame has been represented using 3 1-D truss elements, Figure 3.9. Use the Finite Element Method and the
elemental stiffness matrix of equation (2.14) to calculate the displacements and elemental stresses. The structure is made
from Aluminium with E = 70000 MPa, with the following cross sectional areas for the rod elements: A
12
= 300 mm
2
, A
23
=
150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9: Pin-jointed frame with 10 kN point load applied with an angle or 75
o
at node 2.
Continue
Here the node numbers are shown in circles at the nodes and the element numbers in square boxes in
the middle of the element.
Note we have also added the X and Y axis defining the global co-ordinate system.
Stage 1
1

2

3

4

Continue
1
2
3
A pin jointed frame has been represented using three 1-D
truss elements, Figure 3.9. Use the Finite Element Method
and the elemental stiffness matrix to calculate the
displacements and elemental stresses. The structure is
made from Aluminium with E = 70000 MPa, with the
following cross sectional areas for the rod elements: A
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
X
Y
Before starting, decide on a set of units, and to work consistently
with these all the way through. We could convert everything to SI
units (kg, m, s, N, Pa). In this case, the dimensions are given in
mm, so it makes more sense to use milimetres for length, but
what units should we use for force and stress?
Click on the button A, B or C or D, click clue to get a hint or jump
straight to the answer
Stage 3: Decide what units to use
Clue
Go straight to answer
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
A
B
C
D
N, GPa
kN, MPa
N, Pa
N, MPa
Units
Force = ?

Length = mm

Stress/E = ?
Decide on the base units of mass, length and time and then derive the
units for the others. In this case, we have decided to use mm for length,
try the suggestion above for mass and time

Click on the back button to return to the question

Stage 3: Clue
Back
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
Units
Mass = g

Length = mm

Time = ms

Force =

Stress/E =
Press continue to go proceed
Answer: CORRECT
Continue
The base units are kg, mm and ms, giving the units shown above
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
Units
Mass [M] = g

Length [L]= mm

Time [T] = ms
| || |
| |
| || |
| |
N
s
m kg
10 s
10 m 10 kg
2 2
3
3 -3
= =
force
| |
| |
| |
| |
MPa 10 N/m
10 m
N
area
force
6 2
2
3
= =
= = stress
Answer: INCORRECT
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
Start with the base units of mass, length and time given above
and work out the corresponding units of force and stress
Go back to question
Units
Mass = g

Length = mm

Time = ms

Force =

Stress/E =
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
Answer: INCORRECT
Start with the base units of mass, length and time given above
and work out the corresponding units of force and stress.
Go back to question
Mass = g

Length = mm

Time = ms

Force =

Stress/E =
Units
Answer
Continue
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
The base units are kg, mm and ms, giving the units shown above
Units
Mass [M] = g

Length [L]= mm

Time [T] = ms
| || |
| |
| || |
| |
N
s
m kg
10 s
10 m 10 kg
2 2
3
3 -3
= =
force
| |
| |
| |
| |
MPa 10 N/m
10 m
N
area
force
6 2
2
3
= =
= = stress
Next we will consider each element in turn, starting with Element 1.
First sketch the element as shown and then calculate the angle.
What is the angle in this case?

Click on the button A, B or C or D, click clue to get a hint or jump
straight to the answer

Stage 3: Consider each element in turn
Clue
1

1
2

12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
X
Y
A
B
C
D
0
45
90
180
Element 1
The angle of the element is defined as the angle measured at the node
with the lowest number ANTICLOCKWISE from the global X axis to the
element.

Click on the back button to return to the question

Stage 3: Clue
Back
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
Node with lower node number
1

1
2

X
Y
Element 1
Answer: CORRECT
Continue
The element is aligned with the global X axis, so the angle between the X axis and the element is zero.
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
= 0
1

1
2

X
Y
Element 1
Answer: INCORRECT
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
1

1
2

X
Y
Element 1
Remember the angle of the element is defined as the angle
measured at the node with the lowest number ANTICLOCKWISE
from the global X axis to the element.
Go back to question
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
1

1
2

X
Y
Element 1
Answer: INCORRECT
Remember the angle of the element is defined as the angle
measured at the node with the lowest number ANTICLOCKWISE
from the global X axis to the element.
Go back to question
Answer
Continue
The element is aligned with the global X axis, so the angle between the X axis and the element is zero.
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
= 0
1

1
2

X
Y
Element 1
We know all of the quantities to work out the stiffness matrix for
element 1. In your exam, you will be given a formula sheet with
the standard formula for a truss finite element given above
Next
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
Stage 3: Element 1
| |{ }
( )
( ) o
o
cos c
sin s
s
cs
s
-
cs -
cs
c
cs -
c
-
s
-
cs -
s
cs
cs -
c
-
cs
c

L
EA
2 2
2 2
2 2
2 2
=
=
(
(
(
(
(
(
=
j
j
i
i
V
U
V
U
U K
Truss Finite Element: For a truss finite element
aligned at angle to global X axis with a linear shape
function. Relative to the global co-ordinate system:

Clue
Multi-choice
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
Calculate the stiffness matrix for element 1
Stage 3: Element 1
| |{ }
( )
( ) o
o
cos c
sin s
s
cs
s
-
cs -
cs
c
cs -
c
-
s
-
cs -
s
cs
cs -
c
-
cs
c

L
EA
2 2
2 2
2 2
2 2
=
=
(
(
(
(
(
(
=
j
j
i
i
V
U
V
U
U K

= 0
1

1
2

X
Y
Element 1
Clue
Back
| |{ }
( )
( ) o
o
cos c
sin s
s
cs
s
-
cs -
cs
c
cs -
c
-
s
-
cs -
s
cs
cs -
c
-
cs
c

L
EA
2 2
2 2
2 2
2 2
=
=
(
(
(
(
(
(
=
j
j
i
i
V
U
V
U
U K

= 0
1

1
2

X
Y
Element 1
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
From the question, we have E = 70000 MPa, A
12
= 300 mm
2
, and L
12
= 500mm.

We know the angle alpha = 0, so sin() = 0 and cos() = 1

We can plug all these numbers into the formula shown above for [K]
Stage 3: Element 1
A
C B
The stiffness matrix is:
(
(
(
(
(
(
0 0 0 0
0 42000 0 42000 -
0 0 0 0
0 42000 - 0 42000
1
= ] [k
(
(
(
(
(
(
0 0 0 0
0 42 0 42 -
0 0 0 0
0 2 4 - 0 42
1
= ] [k
(
(
(
(
(
(
42000 0 42000 - 0
0 0 0 0
42000 0 42000 0
0 0 0 0
1
= ] [k
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
| |{ }
( )
( ) o
o
cos c
sin s
s
cs
s
-
cs -
cs
c
cs -
c
-
s
-
cs -
s
cs
cs -
c
-
cs
c

L
EA
2 2
2 2
2 2
2 2
=
=
(
(
(
(
(
(
=
j
j
i
i
V
U
V
U
U K

= 0
1

1
2

X
Y
Element 1
Press continue to go to next question
Answer: CORRECT
Continue
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
= 0
1

1
2

X
Y
Element 1
{ }
(
(
(
(
(
(
2
2
1
1
1
0 0 0 0
0 42000 0 42000 -
0 0 0 0
0 42000 - 0 42000
V
U
V
U
U k = ] [
Answer: INCORRECT
Back
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
| |{ }
( )
( ) o
o
cos c
sin s
s
cs
s
-
cs -
cs
c
cs -
c
-
s
-
cs -
s
cs
cs -
c
-
cs
c

L
EA
2 2
2 2
2 2
2 2
=
=
(
(
(
(
(
(
=
j
j
i
i
V
U
V
U
U K

= 0
1

1
2

X
Y
Element 1
Be careful with the sine and cosine terms, remember alpha = o, so s = 0 and c = 1
Answer: INCORRECT
Back
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
| |{ }
( )
( ) o
o
cos c
sin s
s
cs
s
-
cs -
cs
c
cs -
c
-
s
-
cs -
s
cs
cs -
c
-
cs
c

L
EA
2 2
2 2
2 2
2 2
=
=
(
(
(
(
(
(
=
j
j
i
i
V
U
V
U
U K

= 0
1

1
2

X
Y
Element 1
Be careful with the units, remember we are working in mm and MPa, so you
can use the quantities exactly as they appear in the question.
Answer:
Continue
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
= 0
1

1
2

X
Y
Element 1
{ }
(
(
(
(
(
(
2
2
1
1
1
0 0 0 0
0 42000 0 42000 -
0 0 0 0
0 42000 - 0 42000
V
U
V
U
U k = ] [
12
= 300 mm
2
, and L
12
= 500mm.
We can plug all these numbers into the formula for [K] to give the result shown
We can now repeat the process for element 2.
Next
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
Stage 3: Element 2
| |{ }
( )
( ) o
o
cos c
sin s
s
cs
s
-
cs -
cs
c
cs -
c
-
s
-
cs -
s
cs
cs -
c
-
cs
c

L
EA
2 2
2 2
2 2
2 2
=
=
(
(
(
(
(
(
=
j
j
i
i
V
U
V
U
U K

2

3

2
X
Y Element 2
Clue
Multi-choice
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
Calculate the stiffness matrix for element 2
Stage 3: Element 2
| |{ }
( )
( ) o
o
cos c
sin s
s
cs
s
-
cs -
cs
c
cs -
c
-
s
-
cs -
s
cs
cs -
c
-
cs
c

L
EA
2 2
2 2
2 2
2 2
=
=
(
(
(
(
(
(
=
j
j
i
i
V
U
V
U
U K

X
Y
2

3

2
Element 2
Clue
Back
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
Start off by drawing the element and working out the angle alpha.

23
= 150 mm
2
, and L
23
= 566mm
(calculated from the Figure).

We can plug all these numbers into the formula shown above for [K]
| |{ }
( )
( ) o
o
cos c
sin s
s
cs
s
-
cs -
cs
c
cs -
c
-
s
-
cs -
s
cs
cs -
c
-
cs
c

L
EA
2 2
2 2
2 2
2 2
=
=
(
(
(
(
(
(
=
j
j
i
i
V
U
V
U
U K

X
Y
2

3

2
Element 2
= ?
Stage 3: Element 2
A
C
B
The stiffness matrix is:
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
| |{ }
( )
( ) o
o
cos c
sin s
s
cs
s
-
cs -
cs
c
cs -
c
-
s
-
cs -
s
cs
cs -
c
-
cs
c

L
EA
2 2
2 2
2 2
2 2
=
=
(
(
(
(
(
(
=
j
j
i
i
V
U
V
U
U K

X
Y
2

3

2
Element 2
(
(
(
(
(
(
13125 13125 13125 13125

13125 - 13125 13125 13125
13125 - 13125 13125 13125
13125 13125 - 13125 - 13125
(
(
(
(
(
(

9281 9281 9281 9281
9281 9281 9281 9281
9281 - 9281 9281 9281
9281 9281 - 9281 9281
(
(
(
(
(
(
9281 9281 9281 9281

9281 - 9281 9281 9281
9281 - 9281 9281 9281
9281 9281 - 9281 - 9281
Answer: CORRECT
Continue
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
X
Y
2

3

2
Element 2
= 135
{ }
(
(
(
(
(
(
3
3
2
2
2
9281 9281 9281 9281
9281 - 9281 9281 9281
9281 - 9281 9281 9281
9281 9281 - 9281 - 9281
V
U
V
U
U k = ] [
Answer: INCORRECT
Back
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
Be careful with the angle, remember this is measured at the node with the lower
number, anticlockwise from the global X axis
| |{ }
( )
( ) o
o
cos c
sin s
s
cs
s
-
cs -
cs
c
cs -
c
-
s
-
cs -
s
cs
cs -
c
-
cs
c

L
EA
2 2
2 2
2 2
2 2
=
=
(
(
(
(
(
(
=
j
j
i
i
V
U
V
U
U K

X
Y
2

3

2
Element 2
= ?
Answer: INCORRECT
Back
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
Be careful with the term L, this is the length of the element, so in this case,
you will need to work this out using trigonometry from the information given
in the figure.
| |{ }
( )
( ) o
o
cos c
sin s
s
cs
s
-
cs -
cs
c
cs -
c
-
s
-
cs -
s
cs
cs -
c
-
cs
c

L
EA
2 2
2 2
2 2
2 2
=
=
(
(
(
(
(
(
=
j
j
i
i
V
U
V
U
U K

X
Y
2

3

2
Element 2
Answer:
Continue
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
12
= 300 mm
2
, and L
12
= 500mm.
We can plug all these numbers into the formula for [K] to give the result shown
X
Y
2

3

2
Element 2
= 135
{ }
(
(
(
(
(
(
3
3
2
2
2
9281 9281 9281 9281
9281 - 9281 9281 9281
9281 - 9281 9281 9281
9281 9281 - 9281 - 9281
V
U
V
U
U k = ] [
Press continue to show the stiffness matrix for element 3
Stage 3: Element 3
Continue
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
Finally, we will repeat the procedure for element 3. You should be able to work
this out using the formula given. Once you have written it down, check it against
the answer given next...
| |{ }
( )
( ) o
o
cos c
sin s
s
cs
s
-
cs -
cs
c
cs -
c
-
s
-
cs -
s
cs
cs -
c
-
cs
c

L
EA
2 2
2 2
2 2
2 2
=
=
(
(
(
(
(
(
=
j
j
i
i
V
U
V
U
U K

2

4

3
X
Y
Element 3
Press continue
Answer:
Continue
12
=
300 mm
2
, A
23
= 150 mm
2
, A
42
= 150 mm
2
.

Figure 3.9
Check you have correctly calculated the matrix for element 3.
Note that next to each element, we have written the corresponding
displacement vector {u} this will help when we are constructing the global
stiffness matrix
Element 3
2

4

3
X
Y
{ }
(
(
(
(
(
(
4
4
2
2
3
9281 9281 9281 - 9281 -
9281 9281 9281 - 9281 -
9281 - 9281 - 9281 9281
9281 - 9281 - 9281 9281
V
U
V
U
U k = ] [
= 45
You have finished the first stage of this question.
We will cover the rest in the lectures in Week
3.

Chapter 3 - Self Assesment Truss Structure

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