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    Ivan Agus Hadinata
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    This document contains transformation matrices [RT] and structural mass matrices [SM] for a 6 degree-of-freedom system with 5 identical masses (labeled 1-5) connected in a linear configuration to a fixed base (labeled 0). The matrices [RT] define the orientation and [SM] define the mass properties of each component in the global coordinate system.

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    This document contains transformation matrices [RT] and structural mass matrices [SM] for a 6 degree-of-freedom system with 5 identical masses (labeled 1-5) connected in a linear configuration to a fixed base (labeled 0). The matrices [RT] define the orientation and [SM] define the mass properties of each component in the global coordinate system.

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    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
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    4 views3 pages

    Grid 1

    Uploaded by

    Ivan Agus Hadinata
    This document contains transformation matrices [RT] and structural mass matrices [SM] for a 6 degree-of-freedom system with 5 identical masses (labeled 1-5) connected in a linear configuration to a fixed base (labeled 0). The matrices [RT] define the orientation and [SM] define the mass properties of each component in the global coordinate system.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 3

    [SM]1 = [SM]2 = [SM]3 = [SM]4 = [SM]5

    106

    [SM]1,2,3,4,5 =

    106,812
    0
    0
    -106,812
    0
    0

    0
    0
    1.048 -3,275
    -3,275 0,014
    0
    0
    524,053 -3,275
    -3,275 -0,014

    -106,812
    0
    0
    106,812
    0
    0

    Batang 1 (=0o)

    [RT]1 =

    1
    0
    0
    0
    0
    0

    0
    1
    0
    0
    0
    0

    0
    0
    1
    0
    0
    0

    0
    0
    0
    1
    0
    0

    0
    0
    0
    0
    1
    0

    0
    0
    0
    0
    0
    1

    0
    0
    1 7 10 1 4
    524,053 3,275 2 8 11 2 5
    -3,275 -0,014 3 9 12 3 6
    0
    0
    4 1 4 13 16
    1.048
    3,275 5 2 5 14 17
    3,275
    0,014 6 3 6 15 18

    Batang 2,3,4,5 (=112o)

    [RT]2,3,4,5 =

    -0,375
    -0,927
    0
    0
    0
    0

    0,927
    -0,375
    0
    0
    0
    0

    0
    0
    1
    0
    0
    0

    0
    0
    0
    0
    0
    0
    -0,375 0,927
    -0,927 -0,375
    0
    0

    0
    0
    0
    0
    0
    1

    Batang 1

    [RT]T1 =

    1
    0
    0
    0
    0
    0

    0
    1
    0
    0
    0
    0

    0
    0
    1
    0
    0
    0

    0
    0
    0
    1
    0
    0

    0
    0
    0
    0
    1
    0

    0
    0
    0
    0
    0
    1

    Batang 2,3,4,5

    [RT]T2,3,4,5 =

    -0,375 -0,927
    0,927 -0,375
    0
    0
    0
    0
    0
    0
    0
    0

    0
    0
    1
    0
    0
    0

    0
    0
    0
    0
    0
    0
    -0,375 -0,927
    0,927 -0,375
    0
    0

    0
    0
    0
    0
    0
    1

    Batang 1

    [SMS]1 =

    106

    106,812
    0
    0
    -106,812
    0
    0

    0
    1.048
    -3,275
    0
    524,05
    3
    -3,275

    0
    -3,275
    0,014
    0

    -106,812
    0
    0
    106,812

    0
    0
    524,053 3,275
    -3,275 -0,014
    0
    0

    1
    2
    3
    4

    -3,275

    1.048

    3,275

    -0,014

    3,275

    0,014

    Batang 2,3,4,5

    [SMS]2,3,4,5 =

    106

    916,015
    326,939
    3,037
    435,524
    219,118
    3,037

    326,939
    238,904
    1,227
    219,118
    -18,283
    1,227

    3,037
    1,227
    0,014
    3,037
    1,227
    -0,014

    435,524
    219,118
    3,037
    916,015
    326,939
    -3,037

    219,118
    -18,283
    1,227
    326,939
    238,904
    -1,227

    -3,037
    -1,227
    -0,014
    -3,037
    -1,227
    0,014

    7 10
    8 11
    9 12
    1 4
    2 5
    3 6

    1
    2
    3
    13
    14
    15

    4
    5
    6
    16
    17
    18

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