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MATRICES DE COSENOS DIRECTOR

AӨ(5)= 0 1 0 0
Ө=90 -1 0 0 0
0 0 0 1
0 0 -1 0

AӨ(4,7)= 0.87 0.5 0 0


Ө=30 -0.5 0.87 0 0
0 0 0.87 0.5
0 0 -0.5 0.87

MA

AL1=

AL2=

AL3=

AL4=
AL5=

AL6=

AL7=

MATRICES DE COSENOS DIRECTORES (TRAN

AӨT(5)= 0 -1 0 0
1 0 0 0
Ө=90 0 0 0 -1
0 0 1 0

AӨT(4,7)= 0.87 -0.5 0 0


0.5 0.87 0 0
Ө=30 0 0 0.87 -0.5
0 0 0.5 0.87
CES DE COSENOS DIRECTORES

AӨ(1,2,3)= 1 0 0 0
Ө=0 0 1 0 0
0 0 1 0
0 0 0 1

AӨ(6)= -0.87 0.5 0 0


Ө=150 -0.5 -0.87 0 0
0 0 -0.87 0.5
0 0 -0.5 -0.87

MATRIZ DE LOCALIZACION

D1 D2 D3 D4 D5
1 0 0 0 0
0 1 0 0 0
0 0 1 0 0 ALT1=
0 0 0 0 0

D1 D2 D3 D4 D5
0 1 0 0 0
0 0 1 0 0
0 0 0 0 0 ALT3=
0 0 0 0 0

D1 D2 D3 D4 D5
0 0 0 1 0
0 0 0 0 1
0 0 0 0 0 ALT5=
0 0 0 0 0

D1 D2 D3 D4 D5
1 0 0 0 0
0 0 0 0 0
0 0 0 1 0
0 0 0 0 1

D1 D2 D3 D4 D5
0 1 0 0 0
0 0 1 0 0
0 0 0 1 0
0 0 0 0 1

D1 D2 D3 D4 D5
0 0 0 0 0
0 0 0 0 0
0 0 0 1 0
0 0 0 0 1

0 1 0 0 0
0 0 1 0 0
0 0 0 0 0
0 0 0 0 0

OSENOS DIRECTORES (TRANSPUESTA)

AӨT(1,2,3)= 1 0 0 0
0 1 0 0
Ө=0 0 0 1 0
0 0 0 1

AӨT(6)= -0.87 -0.5 0 0


0.5 -0.87 0 0
Ө=150 0 0 -0.87 -0.5
0 0 0.5 -0.87
K(1,2,3,5)-ARM= 1 0 -1
0 0 0
EA= 1 -1 0 1
L= 1 0 0 0

MATRICES DE LOCALIZACION (TRANSPUESTA)

1 0 0 0 ALT2= 0
0 1 0 0 1
0 0 1 0 0
0 0 0 0 0
0 0 0 0 0

0 0 0 0 ALT4= 1
0 0 0 0 0
0 0 0 0 0
1 0 0 0 0
0 1 0 0 0

0 0 0 0 ALT6= 0
1 0 0 0 0
0 1 0 0 0
0 0 1 0 0
0 0 0 1 0
ALT7= 0 0 0 0
1 0 0 0
0 1 0 0
0 0 0 0
0 0 0 0
MATRIZ DE RIGIDEZ

0 K-ARM(4,6,7)=1.418439716 0 -1.41843972
0 0 0 0
0 EA= 2 -1.41843972 0 1.418439716
0 L= 1.41 0 0 0

0 0 0 1
0 0 0 0
1 0 0 -1
0 0 0 0
0 0 0 0

0 0 0
0 0 0 0
0 0 0 0
0 1 0 0
0 0 1 0
0
0 0 0
0 0 0
0 0 0 0
0 1 0 0
0 0 1 0
0
0

1.073617021
0
0
-1.07361702
-0.61702128

0
0
0
0
0

0
0
0
0
0

0
0
0
0
0
0
0
0
0

MATRIZ DE

0 -1 0 0 KG= 2.073617021
0 0 0 0 0
0 1 0 0 -1
0 0 0 0 -1.07361702
0 0 0 0 -0.61702128

0 0 0 0
1 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0

0 0 0 0
0 0 0 0
0 0 0 0
0 0 1 0
0 0 0 0

0 0 -1.07361702 -0.61702128
0 0 0 0
0 0 0 0
0 0 1.073617021 0.617021277
0 0 0.617021277 0.354609929

0 0 0 0
0 0 0 0
0 1 0 -1
0 0 0 0
0 -1 0 1

0 0 0 0
0 0 0 0
0 0 0 0
0 0 1.073617021 -0.61702128
0 0 -0.61702128 0.354609929

0 0 0 0
1.073617021 0.617021277 0 0
0.617021277 0.354609929 0 0
0 0 0 0
0 0 0 0
MATRIZ DE RIGIDEZ GLOBAL

0 -1 -1.07361702 -0.61702128
2.073617021 0.617021277 0 0
0.617021277 2.354609929 0 -1
0 0 3.147234043 0
0 -1 0 1.709219858

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