Introduction to the

Stiffness (Displacement) Method

Finite Element Method

Objectives

Define the stiffness matrix

Derive the stiffness matrix for a spring element

Demonstrate assembly of stiffness matrix into global stiffness

matrix

Describe and apply different kind of boundary conditions

Show how penalty method can be used

Stiffness Matrix
For an element, a stiffness matrix is a matrix such that

=
where relates the nodal displacements to nodal forces
of a single element

For a continuous medium or a structure comprising a series of

elements, stiffness matrix relates nodal displacements in
global coordinates (, , ) to global forces

=
where represents the stiffness matrix of whole assembly
Stiffness Matrix for a Spring Element

Using direct equilibrium approach, stiffness matrix for a one

dimensional linear spring will be derived
Spring obeys Hookes law
Resist forces only in the direction of spring

Nodes 1 and 2 are at the ends of the spring

Local nodal forces are 1 , 2 and nodal displacements are 1 , 2
The local axis acts in direction of spring so displacements and
forces can be directly measured
Stiffness Matrix for a Spring Element

The nodal displacements are called degrees of freedom (dof)

Positive directions for forces and displacements are taken
along the positive x-axis
is called spring constant or stiffness of the spring

We need a relationship between nodal forces and nodal

displacements
Given by stiffness matrix
Stiffness Matrix for a Spring Element

The stiffness matrix for spring element is of the form

1 12 1
= 11 2
2 21 22

To use this stiffness matrix, element stiffness coefficients

need to be determined
represents force in the ith degree of freedom due to a
unit displacement in the jth degree of freedom while all
other displacements are zero
Now we will use the general steps outlined earlier to derive the
stiffness matrix for the spring element
General Steps of FEM

Step 1 Step 6 Step 7

Discretise and Solve for unknown Solve for element
select the element degree of freedom strains and stresses
types (displacements)

Step 2 Step 5 Step 8

Select a Assemble to obtain Interpret the results
global equations and
displacement apply boundary
function conditions

Step 3 Step 4
Define the strain / Derive the element
displacement and stiffness matrix and
stress / strain equations
relationships
Step 1: Element Selection

We will use a linear spring element which may be part of a

system of springs
Nodal tensile forces act on spring which may result from
action of adjacent springs
Original distance between nodes before deformation is
Step 2: Select a Displacement Function

The mathematical function to represent the deformed shape

of the spring element under loading needs to be selected
The distribution of displacement within the element is assumed
to follow an appropriate mathematical function
Most common functions used are polynomials
Spring element resists axial loading only i.e. displacements
degrees of freedom 1 , 2 along the direction
We assume linear displacement variation along the x-axis of
spring, because a linear function with specified end points has
a unique path

= 1 + 2
Step 2: Select a Displacement Function

In general, total number of coefficients is equal to the total

number of degrees of freedom associated with the element
For spring element, total number of degrees of freedom is two
In matrix form
1
= 1
2

We now express in terms of nodal displacements 1 , 2 as this

will allow the application of physical boundary conditions
directly on nodal displacements
Thus evaluating at each node and solving for 1 , 2

0 = 1 = 1
= 2 = 2 + 1
Step 2: Select a Displacement Function

Writing in the form of 2

2 1
2 =

Thus displacement function can be written as

2 1
= + 1

In matrix form 1 1
=
2
1
= 1 2
2

1
where 1 = 2 =

Step 2: Select a Displacement Function

are called shape functions

represent the shape of the displacement function over the
domain (x-coordinate) when the ith degree of freedom has
unit value and all other degrees of freedom are zero

1 and 2 are linear functions that

have the properties
1 = 1 at node 1
1 = 0 at node 2
2 = 1 at node 2
2 = 0 at node 1
1 + 2 = 1 for any axial coordinate
along the bar
Step 2: Select a Displacement Function

are often called interpolation functions because we are

interpolating to find the value of a function between given
nodal values

The interpolation function may be different from the actual

function except at the endpoints or nodes

At endpoints or nodes, the interpolation function and actual

function must be equal to specified nodal values
Step 3: Define the Strain/Displacement
and Stress/Strain Relationships

The tensile force produce a total elongation (deformation)

of the spring

1 is a negative value because the direction of displacement is

opposite the positive x-direction
2 is a positive value
The deformation of spring is given by

= 0 = 2 1
Step 3: Define the Strain/Displacement
and Stress/Strain Relationships

Thus total deformation is the difference of nodal displacements

in x-direction

For a spring, the force can be directly related to deformation,

thus strain/displacement relationship is not necessary

Stress/Strain relationship can be expressed in terms of force/

displacement relationship

or

= (2 1 )
Step 4: Derive the Element Stiffness
Matrix and Equations

For the equilibrium of nodal forces

1 =
2 =
Using the stress/strain relationship

= 1 = (2 1 ) = 2 = (2 1 )

or
1 = (1 2 ) 2 = (2 1 )

In matrix format
1 1
=
2 2

Stiffness matrix for a

linear spring element
Step 4: Derive the Element Stiffness
Matrix and Equations

This is the local stiffness matrix for the element

is symmetric i.e. =

is square matrix i.e. number of rows equals the number of

columns
Step 5: Assemble to Obtain Global
Equations and Apply Boundary Conditions

The global stiffness matrix and global force matrix are assembled
using
Nodal force equilibrium equations
Force / deformation
Compatibility equations
This step applies to structures with more than one element such that

= () = ()
=1 =1

Where () and () are now element stiffness and force

matrices expressed in global reference frame
sign does not imply a simple summation but assembly
according to direct stiffness method
Step 6: Solve for Nodal Displacements

Displacements are then determined by imposing

boundary conditions such as support conditions and
solving a system of equations simultaneously

=
Step 7: Solve for Element Forces

Finally the element forces are determined by back

substitution

This step is applied to each element

Example of a Spring Assembly
Example of a Spring Assembly

Consider the two spring assembly

The nodes are numbered as 1, 3 and 2 (kept non sequential for

more generalisation)
Stiffness of elements are 1 and 2
Node 1 is fixed
Axial force 2 is applied at node 2 and 3 is applied at node 3
The local x-axis of each element coincides with the global x-axis
of the assembly
Example of a Spring Assembly

For element 1
(1) (1)
1 1 1 1
=
(1)
3 1 1 (1)
3

For element 2
(2) (2)
3 2 2 3
=
(2)
2 2 2 (2)
2

Element 1 and 2 must remain connected at common node 3

throughout the displacement. Known as continuity or
compatibility requirement
Example of a Spring Assembly

The compatibility requirement yields that

(1) (2)
3 = 3 = 3

Superscript in parenthesis above refers to the element

number
Subscript identifies the node of displacement and 3 is the
displacement of node 3 of the total or global spring assembly
 Example of a Spring Assembly

Free body diagrams for each element and node are shown

Considering the free body diagrams and the fact that external
forces must equal internal forces at each node
The force equilibrium equations at nodes 2, 3 and 1 are
(2)
2 = 2
(1) (2)
3 = 3 + 3
Results from external applied (1)
reaction at the fixed support 1 = 1
 Example of a Spring Assembly

We can write force equilibrium equations as

3 = 1 1 + 1 3 + (2 3 2 2 )

2 = 2 3 + 2 2

1 = 1 1 1 3

In matrix form 3 1 + 2 2 1 3
2 = 2 2 0 2
1 1 0 1 1

Rearranging 1 1 0 1 1 Global nodal

2 = 0 2 2 2 displacement
Global 3 3 matrix
1 2 1 + 2
nodal force
matrix Global stiffness
matrix