K Matrix

rkr
All units in N, mm
Inputs required for yellow
highted
L1 5000
5
A 10000 E 2.0 10
I 100000
L2 1000
L3 500
Ah A
Eh E 1000
Ih 1000000
L4 3000
L5 500
As A
Es E
Is 10000
L6 3000
AhEh Ah Eh
L7 3000
AE A E
EI E I
EhIh Eh Ih
AE
AE
0
0
0
0

L1
L1
EI
EI
EI
EI
12 6 0
12 6
0
3
2
3
2
L1
L1
L1
L1
EI
EI
EI
EI
0
6 4 0
6 2
2
2
L1
L1
L1
L1
ke1
AE
AE

0
0
0
0
L1
L1
EI
EI
EI
EI
12 6
0
12 6 0
3
2
3
2
L1
L1
L1
L1
EI
EI
EI
EI
0
6 2 0
6 4
2
2
L1
L1
L1
L1
AE
AE
0
0
0
0
L2
L2
EI
EI
EI
EI
12 6 0
12 6
0
3
2
3
2
L2
L2
L2
L2
EI
EI
EI
EI
0
6 4 0
6 2
2
2
L2
L2
L2
L2
ke2
AE
AE

0
0
0
0
AE
= 400000
L1
AsEs
0
0

L3
EsIs
Es
0
12 6
3
L3
L3
EsIs
Es
0
6 4
2
L
L3
ke3
AsEs

0
0
L3
EsIs
E
0
12 6
3
L
L3
EsIs
Es
0
6 2
2
L
L3
AhEh

L4
Created with PTC Mathcad Express. See www.mathcad.com for more information.
EhIh
Eh
12 6
3
L4
L4
EhIh
Eh
6 4
L2
L2
EI
EI
12 6 0
3
2
L2
L2
EI
EI
6 2 0
2
L2
L2
EI
EI
12 6
3
2
L2
L2
EI
EI
6 4
2
L2
L2
EhIh
E
0
6 4
2
L4
ke4
AhEh

0
L4
EhIh
E
0
12 6
3
L4
EhIh
E
0
6 2
2
L4
AsEs
AsEs
0
0
0
0

L5
L5
EsIs
EsIs
EsIs
EsIs
0
12 6
0
12 6
3
2
3
2
L5
L5
L5
L5
EsIs
EsIs
EsIs
EsIs
0
6 4
0
6 2
2
2
L5
L5
L5
L5
ke5
AsEs
AsEs

0
0
0
0
L5
L5
EsIs
EsIs
EsIs
EsIs
12 6
0
12 6 0
3
2
3
2
L5
L5
L5
L5
EsIs
EsIs
EsIs
EsIs
0
6 2
0
6 4
2
2
L5
L5
L5
L5
AE
0

L6
EI
12
0
3
L6
EI
0
6
2
L6
ke6
AE

0
L6
EI
0
12
3
L6
EI
0
6
2
L6
AE
AE
0
0
0
0

L7
L7
EI
EI
EI
EI
12 6
12 6 0
0
3
2
3
2
L7
L7
L7
L7
EI
EI
EI
EI
0
6 4 0
6 2
2
2
L7
L7
L7
L7
ke7
AE
AE

0
0
0
0
L7
L7
EI
EI
EI
EI
12 6
0
12 6 0
3
2
3
2
L7
L7
L7
L7
EI
EI
EI
EI
0
6 2 0
6 4
2
2
L7
L7
L7
L7
thet12 90
c12 cos (thet12) = 0
s12 sin (thet12) = 1
c12 s12 0 0
thet67 90
c67 cos (thet67) = 0
s67 sin (thet67) = 1
c67 s67 0 0
c12 s12 0 0
0 0
s12 c12 0 0
0 0
0
0 1 0
0 0
T12
0
0 0 c12 s12 0
0
0 0 s12 c12 0
0 0 0
0 1
0
c67 s67 0 0
0 0
s67 c67 0 0
0 0
0
0 1 0
0 0
T67
0
0 0 c67 s67 0
0
0 0 s67 c67 0
0 0 0
0 1
0
K T12 ke1 T12

T
L T12 ke2 T12

M ke3
N ke4
O ke5
T
P T67 ke6 T67

T
Q T67 ke7 T67
Kglobal
K ( 0 , 0)
K ( 1 , 0)
K ( 2 , 0)
K ( 3 , 0)
K ( 4 , 0)
K ( 5 , 0)
K (0 , 1)
K (1 , 1)
K (2 , 1)
K (3 , 1)
K (4 , 1)
K (5 , 1)
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
K ( 0 , 2)
K (0 , 3)
K ( 0 , 4)
K (0 , 5)
K ( 1 , 2)
K (1 , 3)
K ( 1 , 4)
K (1 , 5)
K ( 2 , 2)
K (2 , 3)
K ( 2 , 4)
K (2 , 5)
K (3 , 2) K (3 , 3) + L (0 , 0) K (3 , 4) + L (0 , 1) K (3 , 5) + L (0 , 2)
K (4 , 2) K (4 , 3) + L (1 , 0) K (4 , 4) + L (1 , 1) K (4 , 5) + L (1 , 2)
K (5 , 2) K (5 , 3) + L (2 , 0) K (5 , 4) + L (2 , 1) K (5 , 5) + L (2 , 2)
0
L ( 3 , 0)
L (3 , 1)
L ( 3 , 2)
L(
0
L ( 4 , 0)
L (4 , 1)
L ( 4 , 2)
L(
0
L ( 5 , 0)
L (5 , 1)
L ( 5 , 2)
L(
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
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Kgr
K (3 , 3) + L (0 , 0) K (3 , 4) + L (0 , 1) K (3 , 5) + L (0 , 2)
L ( 0 , 3)
L (0 , 4)
K (4 , 3) + L (1 , 0) K (4 , 4) + L (1 , 1) K (4 , 5) + L (1 , 2)
L ( 1 , 3)
L (1 , 4)
K (5 , 3) + L (2 , 0) K (5 , 4) + L (2 , 1) K (5 , 5) + L (2 , 2)
L ( 2 , 3)
L (2 , 4)
L ( 3 , 0)
L (3 , 1)
L (3 , 2)
L (3 , 3) + M (0 , 0) L (3 , 4) + M (0 , 1)
L ( 4 , 0)
L (4 , 1)
L (4 , 2)
L (4 , 3) + M (1 , 0) L (4 , 4) + M (1 , 1)
L ( 5 , 0)
L (5 , 1)
L (5 , 2)
L (5 , 3) + M (2 , 0) L (5 , 4) + M (2 , 1)
0
0
0
M ( 3 , 0)
M (3 , 1)
)
0
0
0
M
4
,
0
M (4 , 1)
(
0
0
0
M ( 5 , 0)
M (5 , 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
0
0
0
0
0
0
100
0
0
0
0
0
0
0
F
0
0
0
0
0
0
50
the fol
mathca
u4
80.64856
u5
0.00009
u6
0.01783
u7
96.18467
u8
0.00011
u9
0.0135
u10
96.18466
u11
2.69307
u12
1
Kgr F = 0.00195
u13
96.18466
u14
3.15383
u15
0.00195
u16
96.18466
u17
0.00011
u18
0.01534
u19
39.39672
u20
0.00006
u21
0.02021
f1
0
69.275
f2
0
37.421
f3
0 244496.546
f4 K u4 =
69.275
f5
u5
37.421

f6
u6 101879.992
r19
u19
80.725
r20
u20
37.421
r21
u21 13647.151
r22 Q 0 =
80.725
r23
0
37.421
r24
0 255821.216
Kglobal Kglobal =
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
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
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
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
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
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
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
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
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
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 0 0 0 0 0 0 0 0 0 0 0 0

K Matrix

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K Matrix

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rkr

K T12 ke1 T12

L T12 ke2 T12

P T67 ke6 T67

Q T67 ke7 T67

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