u Lj

uiL

By: A.Keivani

u Lj
uiL

uiL
u xi cos( ) u yi sin( ) uiL
u xj cos( ) u yj sin( ) u Lj
G

u xi

uiL
0
0 u yi
cos( ) sin( )
L
0

0
cos( ) sin( ) u xj
u j

u yj

T UG U L

By: A.Keivani

Pi L cos( ) PxiG
Pi sin( ) P
L

Pxi
0
cos( )
P
sin( )
PL
0
yi
i

L
P

0
cos(

)
Pj
xj

Pyj
sin( )
0

P T P
G

By: A.Keivani

G
yi

u Lj

uiL

A E 1 1
K
L 1 1
s

K U P
s

K (T U ) P
s

T UG U L

T K (T U ) T P
T

(T K T ) U P
T

By: A.Keivani

P T P
G

KU P
G

KU P
G

K (T K T )
T

0
cos( )
sin( )

0
0
0
A E 1 1 cos( ) sin( )
K
0
cos( ) L 1 1 0
0
cos( ) sin( )

0
sin(

By: A.Keivani

By: A.Keivani

By: A.Keivani


ab
cd
ac
By: A.Keivani

bc
bd
9

By: A.Keivani

By: A.Keivani

10

11

By: A.Keivani

P K

:ac

PLocal
12

By: A.Keivani

1

AE

c s c s 2
L
3
4

:

AE :

By: A.Keivani

13

14

By: A.Keivani

c 0.8

s 0.6

L5

15

By: A.Keivani

c 0.8

s 0.6

L5

16

By: A.Keivani

c 0.8

s 0.6

L5

17

By: A.Keivani

:1

F1Local

D1
D
AE
2

s
c
s

D
L
3
D4

D1
250.65
D

2 1 481.87

D
0
3 AE

D4
0

250.65

AE
1 481.87
{F1}
0.8 0.6 0.8 0.6 0
{ 97.5}
5
AE

18

By: A.Keivani

19

By: A.Keivani

20

By: A.Keivani

21

By: A.Keivani

By: A.Keivani

22

:
.

By: A.Keivani

23

:
.

By: A.Keivani

24