6x6 and 4x4 Stiffness Matrices Explained
6x6 and 4x4 Stiffness Matrices Explained
δi ∆i θi δj ∆j θj
Ni AE/ L 0 0 − AE/ L 0 0
Vi
0 12 EI/ L3 6EI/ L2 0 − 12 EI/ L3 6EI/ L2
Mi 0 6EI/ L2 4 EI/ L 0 − 6EI/ L2
2EI/ L
[k ]6×6 =
Nj − AE/ L 0 0 AE/ L 0 0
2
Vj 0 − 12 EI/ L3 − 6EI/ L2 0 12 EI/ L3 − 6EI/ L
Mj 0 6EI/ L2 2EI/ L 0 − 6EI/ L2 4EI/ L
∆i θi ∆j θj
3 2 3
Vi 12 EI/ L 6EI/ L − 12 EI/ L 6EI/ L2
Mi 6EI/ L2 4 EI/ L − 6EI/ L2 2EI/ L
[k ]4×4 =
Vj − 12 EI/ L3 − 6EI/ L2 12 EI/ L3 − 6EI/ L2
2
Mj 6EI/ L 2EI/ L − 6EI/ L2 4 EI/ L
28
Example 1
10 kN
1 kN/m
C
A B
1.5 m
9m 3m
41
10 kN
1 kN/m
C
A B
1.5 m
9m 3m
3 2 1
Global 1 2
3 1
2 2
Members
1 2
10 kN
1 kN/m
1.5 m 1.5 m
[FEF]
9m 1 2
wL2/12 = 6.75 wL2/12 = 6.75 PL/8 = 3.75 PL/8 = 3.75
42
3 2 1
1 2
9m 3m
Stiffness Matrix:
θi θj
Mi 4 EI / L 2EI / L
[k ]2×2 =
Mj 2EI / L 4 EI / L
3 2 2 1
4/9 2/9 3 4/3 2/3 2
[k]1= EI [k]2 = EI
2/9 4/9 2 2/3 4/3 1
2 1
(4/9)+(4/3) 2/3 2
[K] = EI
2/3 4/3 1
43
3 2 10 kN 1
1 kN/m
A C
6.75 6.75 3.75
B
9m 1.5 m 1.5 m
2 1
2 MBA + MBC = 0 2 (4/9)+(4/3) 2/3 θB -6.75 + 3.75 = -3
= EI +
1 MCB = 0 1 2/3 4/3 θC -3.75
θB 0.779/EI
=
θC 2.423/EI
44
3
2
1
1 kN/m
[FEF]
9m 1
wL2/12 = 6.75 wL2/12 = 6.75
3 2 0
3 MAB 4/9 2/9 θA 6.75 6.92
= EI + =
2 MBA 2/9 4/9 θB= 0.779/EI -6.75 -6.40
1 kN/m
6.92 kN•m 6.40 kN•m
9m 1
4.56 kN 4.44 kN
45
10 kN
2 1
1.5 m 1.5 m
2 2
PL/8 = 3.75 PL/8 = 3.75
[FEF]
2 1
2 MBC 4/3 2/3 θB = 0.779/EI 3.75 6.40
= EI + =
1 MCB 2/3 4/3 θC = 2.423/EI -3.75 0
10 kN
6.40 kN•m
2
7.13 kN 2.87 kN
46
10 kN
1 kN/m
6.92 6.40
6.40
4.56 kN 4.44 kN 7.13 kN 2.87 kN
1 kN/m θB = +0.779/EI 10 kN
θC = +2.423/EI
6.92 kN•m
A C
4.56 kN B 11.57 kN 2.87 kN
9m 1.5 m 1.5 m
7.13
4.56
V (kN)
x (m)
4.56 m
-4.44 -2.87
3.48 4.32
M
(kN•m) x (m)
-6.92 -6.40 47
Example 2
20 kN
9kN/m 40 kN•m
2EI EI
A B C
4m 4m
48
2 4 6
1 2EI 3 EI 5
1 2
1 2 3
[k]1 [k]2
1 2 3 4 3 4 5 6
1 0.375EI 0.75EI - 0.375EI 0.75EI 3 0.1875EI 0.375EI - 0.1875EI 0.375EI
2 0.75EI 2EI -0.75EI EI 4 0.375EI EI -0.375EI 0.5EI
3 -0.375EI -0.75EI 0.375EI -0.75EI 5 -0.1875EI -0.375EI 0.1875EI -0.375EI
4 0.75EI EI -0.75EI 2EI 6 0.375EI 0.5EI -0.375EI EI
49
20 kN
9kN/m 40 kN•m
12 kN•m 12 kN•m
18 kN 18 kN
4m 4m
2 4 6
1 3 5
2EI EI
1 2
1 2 3
[Q] = [K][D] + [QF]
Global:
3 4
D3 -61.09/EI
=
D4 9.697/EI
50
2 4
9 kN/m
1 3 12 kN•m 12 kN•m
2EI
A B
1 1 2 1
18 kN [qF]1 18 kN
Member 1:
1 2 3 4
q1 1 12(2EI)/430.75EI - 0.375EI 0.75EI d1 = 0 18 48.18
q2 2 0.75EI 2EI -0.75EI EI d2 = 0 12 67.51
q3L 3 -0.375EI -0.75EI 0.375EI -0.75EI d3 = -61.09/EI 18 -12.18
q4L 4 0.75EI EI -0.75EI 2EI d4 = 9.697/EI -12 53.21
A B
1
67.51 kN•m
48.18 kN [q]1 12.18 kN
51
4 6
3 5
EI
2
2 3
Member 2:
3 4 5 6
q3R 3 0.1875EI 0.375EI - 0.1875EI 0.375EI d3 =-61.09/EI 0 -7.818
q4R 4 0.375EI EI -0.375EI 0.5EI d4 = 9.697/EI 0 -13.21
q5 5 -0.1875EI -0.375EI 0.1875EI -0.375EI d5 = 0 0 7.818
q6 6 0.375EI 0.5EI -0.375EI EI d6 = 0 0 -18.06
V (kN) + 12.18
x (m)
-
-7.818 -7.818
53.21
M
(kN•m) + 13.21
x (m)
-
- -18.08
-67.51
53
Example 3
20 kN 10 kN
9kN/m 40 kN•m
2EI EI
A B C
4m 2m 2m
54
20 kN 10 kN
9kN/m 40 kN•m
A C
2EI B EI
4m 2m 2m
2 4 6
1 3 5
Global 2
1 1 2 3
10 kN
9 kN/m 5 kN•m
12 kN•m 5 kN•m
12 kN•m
[FEF] 1 2
18 kN 18 kN
5 kN 5 kN
∆i θi ∆j θj
Vi 12 EI/ L3 6EI/ L2 − 12 EI/ L3 6EI/ L2
Mi 2
6EI/ L 4EI/ L − 6EI/ L2 2EI/ L
[k ]4×4 = Vj
− 12 EI/ L3 − 6EI/ L2 12 EI/ L3 − 6EI/ L2
Mj 6EI/ L2
2EI/ L − 6EI/ L2 4 EI/ L
55
2 4 6
1 3 5
1 2
1 2 3
4m 2m 2m
1 2 3 4
20 kN 10 kN
9kN/m 40 kN•m
A C
2 B4 6
1 3 5
1 2
1 2 3
10 kN
9 kN/m 5 kN•m
12 kN•m 5 kN•m
12 kN•m
[FEF] 1 2
18 kN 18 kN
5 kN 5 kN
Global: [Q] = [K][D] + [QF]
3 4 6
VBL+VBR = -20 3 0.5625 -0.375 0.375 ∆B 18 + 5 = 23
MBA+MBC = 40 = EI 4 -0.375 3 0.5 θB + -12 + 5 = -7
MCB = 0 6 0.375 0.5 1 θC -5
∆B -116.593/EI
θB = -7.667/EI
θC 52.556/EI 57
2 4
9 kN/m
1 3 12 kN•m
12 kN•m
1 1
1 2 18 kN 18 kN
[FEF]
1 2 3 4
VA 1 0.375EI 0.75EI - 0.375EI 0.75EI 0 18 55.97
MAB 2 0.75EI 2EI -0.75EI EI 0 12 91.78
= + 18
= -19.97
VBL 3 -0.375EI -0.75EI 0.375EI -0.75EI ∆B =-116.593/EI
MBA 4 0.75EI EI -0.75EI 2EI/L θB =-7.667/EI -12 60.11
9kN/m
55.97 kN 19.97 kN
58
4 6 10 kN
5 kN•m
3 5 5 kN•m
3
2 2 2
5 kN [FEM] 5 kN
3 4 5 6
VBR 3 0.1875EI 0.375EI - 0.1875EI 0.375EI ∆B =-116.593/EI 5 -0.0278
MBC 4 0.375EI EI -0.375EI 0.5EI θB =-7.667/EI 5 -20.11
VC
= 5 -0.1875EI -0.375EI 0.1875EI -0.375EI 0 + 5 = 10.03
MCB 6 0.375EI 0.5EI -0.375EI EI θC =52.556/EI -5 0
10 kN
20.11 kN•m 2m 2m
2
0.0278 kN 10.03 kN
59
9kN/m 20.11 kN•m 10 kN
91.78 kN•m 2m 2m
4m 1 2
60.11 kN•m 0.0278 kN 10.03 kN
55.97 kN 19.97 kN
20 kN 10 kN
9kN/m 40 kN•m θC = 52.556/EI
91.78 kN•m
55.97 kN 10.03 kN
θB = -7.667/EI ∆B = -116.593/EI
55.97 4m 2m 2m
19.97
V (kN) +
x (m)
-
-0.0278
60.11 -10.03 -10.03
20.11
M +
(kN•m) x (m)
-
-91.78 60
Internal Hinges
Example 6
30 kN
9kN/m
Hinge
2EI EI
A C
B
4m 2m 2m
77
3 4
2
2EI EI
A C
1 2
1
4m B 2m 2m
θi θj
Use 2x2 stiffness matrix, Mi 4 EI / L 2EI / L
[k ]2×2 =
Mj 2EI / L 4EI / L
3 1 2 4
30 kN
9kN/m
Hinge
3 4
2
A C
1 2
1 30 kN
B
12 kN•m 9kN/m 12 kN•m 15 kN•m 15 kN•m
B C
[FEF]
A 1 B 2
Global matrix:
1 2
0.0 1 2.0 0.0 D1 -12
= EI +
0.0 2 0.0 1.0 D2 15
D1 0.0006 rad
D2 = -0.0015 rad
79
3
12 kN•m 9kN/m 12 kN•m
1
A [FEF]
1 1
A B
B
Member 1:
3 1
q3 3 2EI EI d3 = 0.0 12 18
= + =
q1 1 EI 2EI d1 = 0.0006 -12 0.0
9 kN/m
A B
18 kN•m 1
22.5 kN 13.5 kN
80
4
15 kN•m 30 kN 15 kN•m
B B C
C
2
2 2
Member 2:
2 4
30 kN
B C
22.5 kN•m
9.37 kN 20.63 kN
81
30 kN
9 kN/m
B C
A 13.5 kN 22.5 kN•m
B 9.37 kN
18 kN•m 20.63 kN
22.5 kN 13.5 kN 22.87 kN 9.37 kN
30 kN
9kN/m
Hinge
2EI EI
θBL= 0.0006 rad θBR= -0.0015 rad
A C
B
4m 2m 2m
22.5
9.37
V (kN) + x (m)
2.5 m
-13.5
-20.63
18.75
10.13
M +
+
(kN•m) -
- - x (m)
-18
-22.5 82
Example 7
20 kN
9kN/m
2EI EI
Hinge
A B C
4m 4m
83
5 7
1 3
4 2EI EI 6
1 2
A 2 B C
4 5 1 2
4 0.375EI 0.75EI - 0.375EI 0.75EI
5 0.75EI 2EI -0.75EI EI
-0.375EI -0.75EI 0.375EI -0.75EI
[k]1 = 1
1 2 3
2 0.75EI EI -0.75EI 2EI/L
1 0.5625 -0.75 0.375
84
9kN/m 20 kN
B
A C
5 7
1 3
4 2EI EI 6
1 2
A 2 B C
9kN/m
12 kN•m 12 kN•m
A 1 B
18 kN [FEM] 18 kN
Global:
1 2 3
Q1 = -20 1 0.5625 -0.75 0.375 D1 18
Q2 = 0.0 = EI 2 -0.75 2.0 0 D2 + -12
Q3 = 0.0 3 0.375 0.0 1.0 D3 0.0
D1 -0.02382 m
D2 = -0.008333 rad
D3 0.008933 rad
85
5 9kN/m
1
4 2EI 2 12 kN•m 12 kN•m
A 1 B
1
A B 18 kN [FEF] 18 kN
Member 1:
4 5 1 2
q4 4 0.375EI 0.75EI - 0.375EI 0.75EI d4 = 0.0 18 44.83
q5 5 0.75EI 2EI -0.75EI EI d5 = 0.0 12 107.32
= + =
q1 1 -0.375EI -0.75EI 0.375EI -0.75EI d1 = -0.02382 18 -8.83
q2 2 0.75EI EI -0.75EI 2EI/L d2 = -0.00833 -12 0.0
A B
1
8.83 kN
44.83 kN
86
7
1
EI 6
2
B 3 C
Member 2:
1 3 6 7
q1 1 0.1875EI 0.375EI - 0.1875EI 0.375EI d1 = -0.02382 0 -11.16
q3 3 0.375EI EI -0.375EI 0.5EI d3 = 0.008933 0 0.0
q6
=6 -0.1875EI -0.375EI 0.1875EI -0.375EI d6= 0.0
+ 0
=
11.16
q7 7 0.375EI 0.5EI -0.375EI EI d7= 0.0 0 -44.66
B C
44.66 kN•m
2
11.16 kN
11.16 kN
87
20 kN
9kN/m
-107.32 88
Example 8
89
3 4
2
2EI EI
A C
1 2
1
4m B 2m 2m
θi θj
Use 2x2 stiffness matrix:
Mi 4EI / L 2EI / L
[k ]2×2 =
Mj 2EI / L 4 EI / L
3 1 2 4
30 kN
9kN/m
Hinge
A C
2EI 40 kN•m EI
3 B 4
2
A C
1 2
1 30 kN
B
12 kN•m 9kN/m 12 kN•m 15 kN•m 15 kN•m
B C
[FEM]
A 1 B 2
Global matrix:
1 2
Q1 = 40 1 2.0 0.0 D1 -12
= EI +
Q2 = 0.0 2 0.0 1.0 D2 15
D1 0.0026 rad
D2 = -0.0015 rad
91
3
12 kN•m 9kN/m 12 kN•m
1
A [FEF]
1 1
A B
B
Member 1:
3 1
q3 3 2EI EI d3 = 0.0 12 38
= + =
q1 1 EI 2EI d1 = 0.0026 -12 40
9 kN/m
A B 40 kN•m
38 kN•m
37.5 kN 1.5 kN
92
4
15 kN•m 30 kN 15 kN•m
B B C
C
2
2 2
Member 2:
2 4
30 kN
B C
22.5 kN•m
9.37 kN 20.63 kN
93
1.5 kN
30 kN
9 kN/m
B C
A B 40 kN•m 9.37 kN 22.5 kN•m
38 kN•m 20.63 kN
37.5 kN 1.5 kN 7.87 kN 9.37 kN
30 kN
9kN/m 40 kN•m
Hinge
A C
θBR=- 0.0015 rad
rad
θBL= 0.0026 B
4m 2m 2m
37.5
1.5 9.37
V (kN) + x (m)
-20.63
M 40 18.75
(kN•m) + + x (m)
- - -
-22.5 94
-38
Example 9
2EI EI
40 kN•m Hinge
A B C
4m 4m
95
20 kN
9kN/m
2EI EI
40 kN•m Hinge
A B C
4m 4m
5 7
1 3
4 6
A 2 C
1
2 B
9 kN/m
12 kN•m
12 kN•m
[FEM] 1
18 kN 18 kN ∆i θi ∆j θj
Vi 12 EI/ L3 6EI/ L2 − 12 EI/ L3 6EI/ L2
Mi 2
6EI/ L 4EI/ L − 6EI/ L2 2EI/ L
[k ]4×4 = Vj
− 12 EI/ L3 − 6EI/ L2 12 EI/ L3 − 6EI/ L2
Mj 6EI/ L2
2EI/ L − 6EI/ L2 4 EI/ L
96
5 7
1 3
4 2EI EI 6
A 2 C
1
2 B
4 5 1 2
4 0.375EI 0.75EI - 0.375EI 0.75EI
5 0.75EI 2EI -0.75EI EI
[k]1 = 1 -0.375EI -0.75EI 0.375EI -0.75EI
1 2 3
2 0.75EI EI -0.75EI 2EI
1 0.5625 -0.75 0.375
EI
5 40 kN•m 7
1 3
4 2EI EI 6
A 2 C
1 2 B
9 kN/m
12 kN•m
12 kN•m
[FEF] 1
18 kN 18 kN
Global: 1 2 3
Q1 = -20 1 0.5625 -0.75 0.375 D1 18
Q2 = 40 = EI 2 -0.75 2.0 0 D2 + -12
Q3 = 0.0 3 0.375 0.0 1.0 D3 0.0
D1 -0.01316 m
D2 = -0.002333 rad
D3 0.0049333 rad
98
5
1 9 kN/m
4 2 12 kN•m
2EI 12 kN•m
1 [FEF] 1
18 kN 18 kN
4 5 1 2
q4 4 0.375EI 0.75EI - 0.375EI 0.75EI d4 = 0.0 18 49.85
q5 5 0.75EI 2EI -0.75EI EI d5 = 0.0 12 87.37
= + =
q1 1 -0.375EI -0.75EI 0.375EI -0.75EI d1 = -0.01316 18 -13.85
q2 2 0.75EI EI -0.75EI 2EI d2 = -0.002333 -12 40
1 3 6 7
q1 1 0.1875EI 0.375EI - 0.1875EI 0.375EI d1 = -0.01316 0 -6.18
q3 3 0.375EI EI -0.375EI 0.5EI d3 = 0.004933 0 0.0
q6
=6 -0.1875EI -0.375EI 0.1875EI -0.375EI d6= 0.0
+ 0
=
6.18
q7 7 0.375EI 0.5EI -0.375EI EI d7= 0.0 0 -24.69
24.69 kN•m
2 6.18 kN
6.18 kN
[q]2
100
20 kN
9kN/m 40 kN•m
2EI EI
A θBL= -0.002333 rad θBR = 0.004933 rad C
4m B 4m
A B B C
40 kN•m 24.69 kN•m
87.37 kN•m 49.85 kN 13.85 kN 6.18 kN 6.18 kN
49.85
M 40
(kN•m) +
- x (m)
- -24.69
-87.37 101