Transformation Matrix Rotation Matrix 3d Space Frame

1 0 0 0.901915 0.
4319126014 0
0 0.866025 0.5 -0.431913 0.9019154643 0
0 -0.5 0.8660254038 0 0 1
0.8638794435 0.431913 0.25916 0.863879

-0.501944681 0.781082 0.371434 -0.413698
-0.041998147 -0.450958 0.891557 -0.287344
cos Ѳ = (3*1+3*0+3*0)/sqrt(3^2+3^2+3^2) =
cos β = (3*0+3*1+3*0)/sqrt(3^2+3^2+3^2) =
cos α = (3*0+3*0+3*1)/sqrt(3^2+3^2+3^2) =
10 5 3
11.57584
angle with x Ѳ= 30.25 degree
angle with y β= 64.41 degree
angle with z α= 74.98 degree
MEMBER 1 & 4
Length Orientation of member local x axis with global x , y and z axis respectively
1 A 90 1.570796 0 x-x =(1*1+0*0+0*0)/A27 0
B 0 0 1 x-y =(0*1+1*0+0*0)/A27 1
C 90 1.570796 0 x-z =(0*1+0*0+1*0)/A27 0
Orientation of member local y axis with global x , y and z axis respectively
D 180 3.141593 -1 y-x =(0*1+1*0+0*0)/A27 -1
E 90 1.570796 0 y-y =(0*0+1*1+0*0)/A27 0
F 90 1.570796 0 y-z =(0*0+1*0+0*1)/A27 0
Orientation of member local z axis with global x , y and z axis respectively
G 90 1.570796 0 z-x =(0*1+0*0+1*0)/A27 0
H 90 1.570796 0 z-y =(0*0+0*1+1*0)/A27 0
I 0 0 1 z-z =(0*0+0*0+1*1)/A27 1
0 1 0
-1 0 0
0 0 1
MEMBER 2 & 5
1 A 0 0 1 x-x =(1*1+0*0+0*0)/A27 1
B 90 1.570796 0 x-y =(0*1+1*0+0*0)/A27 0
C 90 1.570796 0 x-z =(0*1+0*0+1*0)/A27 0
D 90 1.570796 0 y-x =(0*1+1*0+0*0)/A27 0
E 0 0 1 y-y =(0*0+1*1+0*0)/A27 1
F 90 1.570796 0 y-z =(0*0+1*0+0*1)/A27 0
G 90 1.570796 0 z-x =(0*1+0*0+1*0)/A27 0
H 90 1.570796 0 z-y =(0*0+0*1+1*0)/A27 0
I 0 0 1 z-z =(0*0+0*0+1*1)/A27 1
1 0 0
0 1 0
0 0 1
MEMBER 3 & 6
1 A 90 1.570796 0 x-x =(1*1+0*0+0*0)/A27 0
B 180 3.141593 -1 x-y =(0*1+1*0+0*0)/A27 -1
C 90 1.570796 0 x-z =(0*1+0*0+1*0)/A27 0
D 0 0 1 y-x =(0*1+1*0+0*0)/A27 1
E 90 1.570796 0 y-y =(0*0+1*1+0*0)/A27 0
F 90 1.570796 0 y-z =(0*0+1*0+0*1)/A27 0
G 90 1.570796 0 z-x =(0*1+0*0+1*0)/A27 0
H 90 1.570796 0 z-y =(0*0+0*1+1*0)/A27 0
I 0 0 1 z-z =(0*0+0*0+1*1)/A27 1
0 -1 0
1 0 0
MEMBER 7 0 0 1
1 A 90 1.570796 0 x-x =(1*1+0*0+0*0)/A27 0
B 90 1.570796 0 x-y =(0*1+1*0+0*0)/A27 0
C 0 0 1 x-z =(0*1+0*0+1*0)/A27 1
D 90 1.570796 0 y-x =(0*1+1*0+0*0)/A27 0
E 0 0 1 y-y =(0*0+1*1+0*0)/A27 1
F 90 1.570796 0 y-z =(0*0+1*0+0*1)/A27 0
G 180 3.141593 -1 z-x =(0*1+0*0+1*0)/A27 -1
H 90 1.570796 0 z-y =(0*0+0*1+1*0)/A27 0
I 90 1.570796 0 z-z =(0*0+0*0+1*1)/A27 0
if local member x direction is in the same direction of global z directi
0 0 1
0 1 0
-1 0 0
MEMBER 8
1 A 90 1.570796 0 x-x =(1*1+0*0+0*0)/A27 0
B 90 1.570796 0 x-y =(0*1+1*0+0*0)/A27 0
C 180 3.141593 -1 x-z =(0*1+0*0+1*0)/A27 -1
D 90 1.570796 0 y-x =(0*1+1*0+0*0)/A27 0
E 0 0 1 y-y =(0*0+1*1+0*0)/A27 1
F 90 1.570796 0 y-z =(0*0+1*0+0*1)/A27 0
G 0 0 1 z-x =(0*1+0*0+1*0)/A27 1
H 90 1.570796 0 z-y =(0*0+0*1+1*0)/A27 0
I 90 1.570796 0 z-z =(0*0+0*0+1*1)/A27 0
if local member x direction is in the opposite direction of global z di
0 0 -1
0 1 0
1 0 0
0.957828 0 0.287344
0 1 0
-0.287344 0 0.957828
0.431912601424224 0.25916
0.901915464293056 -0.124107
0 0.957828
0)/sqrt(3^2+3^2+3^2) = 0.57735 54.73561 degree

0)/sqrt(3^2+3^2+3^2) = 0.57735 54.73561 degree
1)/sqrt(3^2+3^2+3^2) = 0.57735 54.73561 degree
α
2
=(LOCAL X Axis * GLOBAL X Axis)/Length of MEMBER
=(LOCAL X Axis * GLOBAL Y Axis)/Length of MEMBER
=(LOCAL X Axis * GLOBAL Z Axis)/Length of MEMBER
(-1,0,0) Y
=(LOCAL Y Axis * GLOBAL X Axis)/Length of MEMBER
=(LOCAL Y Axis * GLOBAL Y Axis)/Length of MEMBER
=(LOCAL Y Axis * GLOBAL Z Axis)/Length of MEMBER
Y Z (0,0,1)
=(LOCAL Z Axis * GLOBAL X Axis)/Length of MEMBER (0,1,0)
=(LOCAL Z Axis * GLOBAL Y Axis)/Length of MEMBER
=(LOCAL Z Axis * GLOBAL Z Axis)/Length of MEMBER
GLOBAL
x (1,0,0)
1
Z (0,0,1)
(0,1,0)
2
=(LOCAL X Axis * GLOBAL Z Axis)/Length of MEMBER Y
Y
(0,1,0)
=(LOCAL Y Axis * GLOBAL Z Axis)/Length of MEMBER GLOBAL
=(LOCAL Z Axis * GLOBAL X Axis)/Length of MEMBER

=(LOCAL Z Axis * GLOBAL Y Axis)/Length of MEMBER x (1,0,0)
3 Z
Z (0,0,1)
X (0,-1,0)
(0,0,1)
LOCAL

Y (1,0,0)
=(LOCAL X Axis * GLOBAL Z Axis)/Length of MEMBER Y
(0,1,0)

=(LOCAL Y Axis * GLOBAL Y Axis)/Length of MEMBER Z (0,0,1) GLOBAL

=(LOCAL Z Axis * GLOBAL Y Axis)/Length of MEMBER 4
Z (0,0,1)
2

Y
(0,1,0)
=(LOCAL Z Axis * GLOBAL Y Axis)/Length of MEMBER 6
=(LOCAL Z Axis * GLOBAL Z Axis)/Length of MEMBER GLOBAL X (0,0,1)
GLOBAL X (0,0,1)
same direction of global z direction
x (1,0,0)
Z (0,0,1)
3
=(LOCAL X Axis * GLOBAL X Axis)/Length of MEMBER Y

Y
(0,1,0)
=(LOCAL Z Axis * GLOBAL Y Axis)/Length of MEMBER
=(LOCAL Z Axis * GLOBAL Z Axis)/Length of MEMBER 7
GLOBAL X (0,0,-1)
opposite direction of global z direction
x (1,0,0)
Z (0,0,1)
Y ( 0,1,0)
B ( 3,3,3)
A ( 0,0,0) Ѳ X ( 1,0,0)
X
(0,1,0)
2
LOCAL
Y
1 7
1 1
6
1 5
Y
(1,0,0)
1
1 4
x
Z
(0,1,0)
3 5
Y
LOCALL
(1,0,0)
x (1,0,0)
2 To 6
Y
(0,1,0)
LOCAL
Z (-1,0,0)
7 TO 3
Y
(0,1,0)
LOCAL
Z (1,0,0)
1 2 3
1 8
1 1 1 3
1 6
7

Transformation Matrix Rotation Matrix 3d Space Frame

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Transformation Matrix Rotation Matrix 3d Space Frame

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1 0 0 0.901915 0.

0.8638794435 0.431913 0.25916 0.863879

0)/sqrt(3^2+3^2+3^2) = 0.57735 54.73561 degree

=(LOCAL Z Axis * GLOBAL X Axis)/Length of MEMBER

=(LOCAL X Axis * GLOBAL X Axis)/Length of MEMBER

=(LOCAL Y Axis * GLOBAL X Axis)/Length of MEMBER

=(LOCAL Z Axis * GLOBAL X Axis)/Length of MEMBER

=(LOCAL Y Axis * GLOBAL X Axis)/Length of MEMBER

=(LOCAL Y Axis * GLOBAL X Axis)/Length of MEMBER

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