Diketahui:

Q = 1.8
M = 4.12
P1 = 5.45
L1 = 3.9
L2 + L3 = 6.4
L1^3 = 59.319
L2^3 = 262.144

6 4 P1= 5,45

Q= 1,8 kN M=4,12

A 5 2
B1

3.1 3.2 3.2

1. Mencari :
Join :3
Jumlah Batang :2
Arah displacement : 6 ( 2 bebas 1 & 2 )
( 4 terkekang 3,4,5,dan 6 )

2. Menghitung gaya ujung karena beban luar Mb 4.12

Batang 1 Batang 2
RA q6 = -3.51 RB q4 =
MA q5 = -2.2815 MB q1 =
RB q4 = -3.51 RC q3 =
MB q1 = 2.2815 MC q2 =

3. Menghitung matrix kekakuan batang

DASAR MATRIKS KEKAKUAN ELEMEN

12 6L -12 6L BATANG 6L
6L 4L^2 -6L 2L^2 1 23.4
EI/L^3 -12 -6L 12 -6L 2 38.4
6L 2L^2 -6L 4L^2

Batang 1 12 6L -12 6L
k = EI/L^3 6L 4L^2 -6L 2L^2
-12 -6L 12 -6L
6L 2L^2 -6L 4L^2
 Batang 2 12 6L -12 6L
k = EI/L^3 6L 4L^2 -6L 2L^2
-12 -6L 12 -6L
6L 2L^2 -6L 4L^2

4. Menghitung matrix kekakuan global ( Overall stiffnes matrix )

1 2 3 4
Q1 2.042 1.65 0.313 -0.146 -0.248
Q2 4.360 0.313 0.625 -0.146 0.146
Q3 -2.725 = -0.146 -0.146 0.046 -0.046
Q4 -6.235 -0.248 0.146 -0.046 0.046
Q5 -2.282 0.513 0 0 -0.394
Q6 -3.510 0.394 0 0 -0.202

5. Mencari D1 dan D2
2.042 = 1.651 0.313 x DI Dinvers
4.360 0.313 0.625 D2

DI = -0.716
D2 7.334

6. Menghitung reaksi perletakan

Q3 -2.725 -0.146 -0.146
Q4 -6.235 = -0.248 0.146 x -0.716 =
Q5 -2.282 0.513 0 7.334
Q6 -3.510 0.394 0

Q3 -1.759
Q4 = -7.483
Q5 -1.914
Q6 -3.228

7. Menghitung gaya pada batang

Batang 1 Q6 0.202 0.394 -0.202 0.394
Q5 = 0.394 1.026 -0.394 0.513
Q4 -0.202 -0.394 0.202 -0.394
Q1 0.394 0.513 -0.394 1.026

Batang 2 Q4 0.046 0.146 -0.046 0.146

 Q1 = 0.146 0.625 -0.146 0.313
Q3 -0.046 -0.146 0.046 -0.146
Q2 0.146 0.313 -0.146 0.625

3.17 3.7
2.41 P1= 5,45

Q= 1,8 kN

1.05 2.23 6.25

t
t/m
t
m
m
m
m

-2.725
-4.360
-2.725
4.360

4L^2 2L^2
60.84 30.42
163.84 81.92

12 23.4 -12 23.4

k = EI/ 23.4 60.84 -23.4 30.42
59.319 -12 -23.4 12 -23.4
23.4 30.42 -23.4 60.84

6 5 4 1
 0.202 0.394 -0.202 0.394
k = EI 0.394 1.026 -0.394 0.513
-0.202 -0.394 0.202 -0.394
0.394 0.513 -0.394 1.026

12 38.4 -12 38.4

k = EI/ 38.4 163.84 -38.4 81.92
262.144 -12 -38.4 12 -38.4
38.4 81.92 -38.4 163.84

4 1 3 2
0.046 0.146 -0.046 0.146
k = EI 0.146 0.625 -0.146 0.313
-0.046 -0.146 0.046 -0.146
0.146 0.313 -0.146 0.625

5 6
0.513 0.394 1 D1
0 0 2 D2
0 0 3 0
-0.394 -0.202 4 0
1.026 0.394 5 0
0.394 0.202 6 0

0.669 -0.335 x 1.11 = -0.716

-0.335 1.767 4.36 7.334

-0.966
1.248
-0.367
-0.282

0 -0.282 2.79 2.51 RA

x 0 = -0.367 + 1.442 = 1.07 MA
0 0.282 2.79 3.07 RB
-0.716 -0.734 -1.442 -2.18 MB

0 0.969 2.725 3.69 RB

x -0.716 = 1.844 + 4.36 = 6.20 MB
0 -0.969 2.725 1.76 RC
7.334 4.360 -4.36 0.00 MC

1.75

0
6
5
4
1

4
1
3
2
 ELEMEN A ELEMEN B
AE 8500 AE
L 800 L

1 2 3 4
1 AE/L 0 -AE/L 0
2 0 0 0 0
3 -AE/L 0 AE/L 0
4 0 0 0 0
B
BATANG L AE/L α
1 800 10.625 300
2 462 18.398268 330
3 400 21.25 0
4 565 15.044248 45
Matriks Kekakuan Element Batang 1
u1 v1 u2 v2
u1 10.625 0 -10.625 0
v1 0 0 0 0 1
u2 -10.625 0 10.625 0
v2 0 0 0 0

Matriks Kekakuan Element Batang 2

u1 v1 u3 v3
u1 18.3982683983 0 -18.398268398 0
v1 0 0 0 0 2
u3 -18.398268398 0 18.3982683983 0
v3 0 0 0 0

Matriks Kekakuan Element Batang 3

u1 v1 u4 v4
u1 21.25 0 -21.25 0
v1 0 0 0 0 3
u4 -21.25 0 21.25 0
v4 0 0 0 0

Matriks Kekakuan Element Batang 4

u1 v1 u5 v5
u1 15.0442477876 0 -15.044247788 0
v1 0 0 0 0 4
u5 -15.044247788 0 15.0442477876 0
v5 0 0 0 0
D Matriks Kekakuan Global e
u1 v1 u3 v3
u1 2.65625 -4.60076 -2.65625 4.60076
v1 -4.6007599576 7.96875 4.6007599576 -7.96875
u3 -2.65625 4.60076 2.65625 -4.60076
v3 4.6007599576 -7.96875 -4.6007599576 7.96875

Matriks Kekakuan Global

u1 v1 u2 v2
u1 13.7987012987 -7.966684 -13.798701299 7.9666839
v1 -7.9666839093 4.5995671 7.96668390927 -4.599567
u3 -13.798701299 7.9666839 13.7987012987 -7.966684
v3 7.96668390927 -4.599567 -7.9666839093 4.5995671

Matriks Kekakuan Global

u2 v2 u3 v3
u1 21.25 0 -21.25 0
v1 0 0 0 0
u4 -21.25 0 21.25 0
v4 0 0 0 0

Matriks Kekakuan Global

u1 v1 u5 v5
u1 7.52212389381 7.5221239 -7.5221238938 -7.522124
v1 7.52212389381 7.5221239 -7.5221238938 -7.522124
u5 -7.5221238938 -7.522124 7.52212389381 7.5221239
v5 -7.5221238938 -7.522124 7.52212389381 7.5221239
ELEMEN B ELEMEN C ELEMEN D
8500 AE 8500 AE 8500
462 L 400 L 565

Matriks Transformasi
cos sin 0 0
-sin cos 0 0
0 0 cos sin
0 0 -sin cos

Matriks Transformasi C Matriks Transpose Transfor

u1 v1 u2 v2 u1 v1
u1 0.5 -0.86603 0 0 u1 0.5 0.866025
v1 0.8660254 0.5 0 0 1 v1 -0.86603 0.5
u2 0 0 0.5 -0.86603 u2 0 0
v2 0 0 0.866025 0.5 v2 0 0

Matriks Transformasi Matriks Transpose Transfor

u1 v1 u3 v3 u1 v1
u1 0.8660254 -0.5 0 0 u1 0.866025 0.5
v1 0.5 0.866025 0 0 2 v1 -0.5 0.866025
u3 0 0 0.866025 -0.5 u3 0 0
v3 0 0 0.5 0.866025 v3 0 0

Matriks Transformasi Matriks Transpose Transfor

u1 v1 u4 v4 u1 v1
u1 1 0 0 0 u1 1 0
v1 0 1 0 0 3 v1 0 1
u4 0 0 1 0 u4 0 0
v4 0 0 0 1 v4 0 0

Matriks Transformasi Matriks Transpose Transfor

u1 v1 u5 v5 u1 v1
u1 0.7071068 0.707107 0 0 u1 0.707107 -0.70711
v1 -0.707107 0.707107 0 0 4 v1 0.707107 0.707107
u5 0 0 0.707107 0.707107 u5 0 0
v5 0 0 -0.70711 0.707107 v5 0 0
 Overall stiffness matrix
u1 v1 u2 v2 u3 v3 u4 v4 u5
u1 45.227075 -5.04532 -2.65625 4.60076 -13.7987 7.966684 -21.25 0 -7.52212
v1 -5.04532 20.09044 4.60076 -7.96875 7.966684 -4.59957 0 0 -7.52212
u2 -2.65625 4.60076 2.65625 -4.60076 0 0 0 0 0
v2 4.60076 -7.96875 -4.60076 7.96875 0 0 0 0 0
u3 -13.7987 7.966684 0 0 13.7987 -7.96668 0 0 0
v3 7.9666839 -4.59957 0 0 -7.96668 4.599567 0 0 0
u4 -21.25 0 0 0 0 0 21.25 0 0
v4 0 0 0 0 0 0 0 0 0
u5 -7.522124 -7.52212 0 0 0 0 0 0 7.522124
v5 -7.522124 -7.52212 0 0 0 0 0 0 7.522124

{F} = [K] . {U}

F1 45.227075 -5.04532 -2.65625 4.60076 -13.7987 7.966684 -21.25 0 -7.52212

G1 -5.04532 20.09044 4.60076 -7.96875 7.966684 -4.59957 0 0 -7.52212
F2 -2.65625 4.60076 2.65625 -4.60076 0 0 0 0 0
G2 4.60076 -7.96875 -4.60076 7.96875 0 0 0 0 0
F3 -13.7987 7.966684 0 0 13.7987 -7.96668 0 0 0
G3 7.9666839 -4.59957 0 0 -7.96668 4.599567 0 0 0
F4 -21.25 0 0 0 0 0 21.25 0 0
G4 0 0 0 0 0 0 0 0 0
F5 -7.522124 -7.52212 0 0 0 0 0 0 7.522124
G5 -7.522124 -7.52212 0 0 0 0 0 0 7.522124

-29 45.22708 -5.04532 -2.65625 4.60076 -13.7987 7.966684 -21.25 0

-19 -5.04532 20.09044 4.60076 -7.96875 7.966684 -4.59957 0 0
F2 -2.65625 4.60076 2.65625 -4.60076 0 0 0 0
G2 4.60076 -7.96875 -4.60076 7.96875 0 0 0 0
F3 -13.7987 7.966684 0 0 13.7987 -7.96668 0 0
G3 7.966684 -4.59957 0 0 -7.96668 4.599567 0 0
F4 -21.25 0 0 0 0 0 21.25 0
G4 0 0 0 0 0 0 0 0
F5 -7.52212 -7.52212 0 0 0 0 0 0
G5 -7.52212 -7.52212 0 0 0 0 0 0

h Elemen Forcess
Matriks Kekakuan Global X Transpose Matriks X uknow displacmen
u1 v1 u2 v2

1
 u1 2.65625 -4.60076 -2.65625 4.60076 0.5 0.866025 0
1 v1 -4.60076 7.96875 4.60076 -7.96875 -0.86603 0.5 0
x
u2 -2.65625 4.60076 2.65625 -4.60076 0 0 0.5
v2 4.60076 -7.96875 -4.60076 7.96875 0 0 -0.86603

13.7987 -7.96668 -13.7987 7.966684 0.866025 0.5 0

2 -7.96668 4.599567 7.966684 -4.59957 -0.5 0.866025 0
-13.7987 7.966684 13.7987 -7.96668 0 0 0.866025
7.966684 -4.59957 -7.96668 4.599567 0 0 -0.5

21.25 0 -21.25 0 1 0 0
3 0 0 0 0 0 1 0
-21.25 0 21.25 0 0 0 1
0 0 0 0 0 0 0

7.522124 7.522124 -7.52212 -7.52212 0.707107 -0.70711 0

3 7.522124 7.522124 -7.52212 -7.52212 0.707107 0.707107 0
-7.52212 -7.52212 7.522124 7.522124 0 0 0.707107
-7.52212 -7.52212 7.522124 7.522124 0 0 0.707107
ks Transpose Transformasi
u2 v2
0 0
0 0
0.5 0.866025
-0.86603 0.5

ks Transpose Transformasi
u3 v3
0 0
0 0
0.866025 0.5
-0.5 0.866025

ks Transpose Transformasi
u4 v4
0 0
0 0
1 0
0 1

ks Transpose Transformasi
u5 v5
0 0
0 0
0.707107 -0.70711
0.707107 0.707107
 v5
-7.52212
-7.52212
0
0
0
0
0
0
7.522124
7.522124

-7.52212 u1 g uknown displacement and reaction

-7.52212 v1 29 45.22708
=
0 u2 19 -5.04532
0 v2
0 u3 u2 0.022748
=
0 v3 v2 0.005713
0 u4
0 v4 u2 0.768231
=
7.522124 u5 v2 1.13865
7.522124 v5
F2 -2.65625
G2 4.60076
-7.52212 -7.52212 u1 F3 -13.7987
-7.52212 -7.52212 v1 G3 7.966684
=
0 0 0 F4 -21.25
0 0 0 G4 0
0 0 0 F5 -7.522124
0 0 0 G5 -7.522124
0 0 0
0 0 0
7.522124 7.522124 0
7.522124 7.522124 0

uknow displacmenent and reaction

 0 0 -3.1980392307
0 0 -5.5391664322
x =
0.866025 0.768231 3.19803923074 0
0.5 1.13865 5.53916643224

0 0 -0.8829601792
0 0 1.52933189148
=
0.5 0.768231 0.88296017923
0.866025 1.13865 -1.5293318915

0 0 -16.324913592
0 0 0
0 0.768231 16.3249135923
1 1.13865 0

0 0 -8.1723590112
0 0 -8.1723590112
-0.70711 0.768231 8.17235901124
0.707107 1.13865 8.17235901124
placement and reaction
-5.04532 u2
x
20.09044 v2

0.005713 29
x
0.05121 19

4.60076 3.198039 -29 19

-7.96875 -5.539166
7.966684 -1.529332 -19 29
-4.59957 0.768231 0.88296
x =
0 1.13865 -16.32491
0 0
-7.522124 -14.34379
-7.522124 -14.34379
 449

ELEMEN A ELEMEN B
E 2100 A1 449 A2
L 762 L

1 2 3 4
1 AE/L 0 -AE/L 0
2 0 0 0 0
3 -AE/L 0 AE/L 0
4 0 0 0 0
B
BATANG L AE/L α
1 762 1237.402 60
2 762 1047.667 0
3 762 1237.402 300

A Matriks Kekakuan Element Batang 1

u1 v1 u3 v3
u1 1237.4015748 0 -1237.4015748 0
1 v1 0 0 0 0 1
u3 -1237.4015748 0 1237.4015748 0
v3 0 0 0 0

Matriks Kekakuan Element Batang 2

u1 v1 u2 v2
u1 1047.66666667 0 -1047.6666667 0
2 v1 0 0 0 0 2
u2 -1047.6666667 0 1047.66666667 0
v2 0 0 0 0

Matriks Kekakuan Element Batang 3

u2 v2 u3 v3
u2 1237.4015748 0 -1237.4015748 0
3 v2 0 0 0 0 3
u3 -1237.4015748 0 1237.4015748 0
v3 0 0 0 0

D Matriks Kekakuan Global e

u1 v1 u3 v3
u1 309.350393701 535.8106 -309.3503937 -535.811
v1 535.810599231 928.0512 -535.81059923 -928.051
u3 -309.3503937 -535.811 309.350393701 535.8106
v3 -535.81059923 -928.051 535.810599231 928.0512
 Matriks Kekakuan Global
u1 v1 u2 v2
u1 1047.66666667 0 -1047.6666667 0 f
1 v1 0 0 0 0
u2 -1047.6666667 0 1047.66666667 0
v2 0 0 0 0

Matriks Kekakuan Global

u2 v2 u3 v3
u2 309.350393701 -535.811 -309.3503937 535.8106
v2 -535.81059923 928.0512 535.810599231 -928.051
u3 -309.3503937 535.8106 309.350393701 -535.811
v3 535.810599231 -928.051 -535.81059923 928.0512 h

3
ELEMEN B ELEMEN C
449 A3 449
900 L 762

Matriks Transformasi
cos sin 0 0
-sin cos 0 0
0 0 cos sin
0 0 -sin cos

Matriks Transformasi C Matriks Transpose Transformasi

u1 v1 u3 v3 u1
u1 0.5 0.866025 0 0 u1 0.5
v1 -0.866025 0.5 0 0 1 v1 0.866025
u3 0 0 0.5 0.866025 u3 0
v3 0 0 -0.86603 0.5 v3 0

Matriks Transformasi Matriks Transpose Transformasi

u1 v1 u2 v2 u1
u1 1 0 0 0 u1 1
v1 0 1 0 0 2 v1 0
u2 0 0 1 0 u2 0
v2 0 0 0 1 v2 0

Matriks Transformasi Matriks Transpose Transformasi

u2 v2 u3 v3 u2
u2 0.5 -0.86603 0 0 u2 0.5
v2 0.8660254 0.5 0 0 3 v2 -0.86603
u3 0 0 0.5 -0.86603 u3 0
v3 0 0 0.866025 0.5 v3 0

Overall stiffness matrix

u1 v1 u2 v2 u3 v3
u1 1357.0171 535.8106 -1047.67 0 -309.35 -535.811 x1
v1 535.8106 928.0512 0 0 -535.811 -928.051 y1
u2 -1047.667 0 309.3504 -535.811 -309.35 535.8106 x2
v2 0 0 -535.811 928.0512 535.8106 -928.051 y2
u3 -309.3504 -535.811 -309.35 535.8106 618.7008 0 x3
v3 -535.8106 -928.051 535.8106 -928.051 0 1856.102 y3

Rearrangement
u2 v2 u1 v1 u3 v3
u2 309.35039 -535.811 -1047.67 0 -309.35 535.8106 25
v2 -535.8106 928.0512 0 0 535.8106 -928.051 0
u1 -1047.667 0 1357.017 535.8106 -309.35 -535.811 x1
v1 0 0 535.8106 928.0512 -535.811 -928.051 y1
u3 -309.3504 535.8106 -309.35 -535.811 618.7008 0 x3
v3 535.8106 -928.051 -535.811 -928.051 0 1856.102 y3

Elemen Forcess
Matriks Kekakuan Global X Transpose Matriks X uknow displacmenent and re
u1 v1 u2 v2
u1 309.35039 535.8106 -309.35 -535.811 0.5 -0.86603 0
v1 535.8106 928.0512 -535.811 -928.051 0.866025 0.5 0
x
u2 -309.3504 -535.811 309.3504 535.8106 0 0 0.5
v2 -535.8106 -928.051 535.8106 928.0512 0 0 0.866025

1047.6667 0 -1047.67 0 1 0 0
0 0 0 0 0 1 0
-1047.667 0 1047.667 0 0 0 1
0 0 0 0 0 0 0

309.35039 -535.811 -309.35 535.8106 0.5 0.866025 0

-535.8106 928.0512 535.8106 -928.051 -0.86603 0.5 0
-309.3504 535.8106 309.3504 -535.811 0 0 0.5
535.8106 -928.051 -535.811 928.0512 0 0 -0.86603
Transpose Transformasi
v1 u3 v3
-0.86603 0 0
0.5 0 0
0 0.5 -0.86603
0 0.866025 0.5

Transpose Transformasi
v1 u2 v2
0 0 0
1 0 0
0 1 0
0 0 1

Transpose Transformasi
v2 u3 v3
0.866025 0 0
0.5 0 0
0 0.5 0.866025
0 -0.86603 0.5

g uknown displacement and reaction

25 309.3504 -535.81059923 u2
= x
0 -535.811 928.0511811 v2

u2 309.3504 -535.81059923 25
= x
v2 -535.811 928.0511811 0
 u2 7733.76
=
v2 -13395.3

-1047.67 0 -8102402.395
0 0 7733.76 0
x =
-309.35 535.8106 -13395.3 -9569766.6083
535.8106 -928.051 16575321.982

uknow displacmenent and reaction

0 0 -4784883.3041
0 0 8287660.9911
x =
-0.86603 7733.76 4784883.3041
0.5 -13395.3 -8287660.9911

0 0 -8102402.395
0 0 0
=
0 7733.76 8102402.395
1 -13395.3 0

0 0 9569766.6083
0 0 16575321.982
0.866025 7733.76 -9569766.6083
0.5 -13395.3 -16575321.982
 349

ELEMEN A ELEMEN B
E 2000 A1 50 A2 120
I 349 I 349
L 1000 L 800

1 2 3 4 5 6
1 AE/L 0 0 AE/L 0 0
2 0 12EL/L3 6EI/L2 0 -12EL/L 6EI/L2
3

3 0 6EI/L2 4EI/L 0 -6EI/L2 2EI/L

4 AE/L 0 0 AE/L 0 0
5 0 -12EL/L - 6EI/L2
3
0 12EL/L -6EI/L2
3

6 0 6EI/L2 2EI/L 0 -6EI/L2 4EI/L

BATANG L AE/L 12EI/L3 4EI/L 2EI/L 6EI/L2 α

1 1000 100 0.008376 2792 1396 4.188 37
2 800 300 0.016359 3490 1745 6.54375 323

A. Matriks kekakuan elemen (member stiffness matrix)

u1 v1 θ1 u2 v2 θ2
u1 100 0 0 100 0 0
v1 0 0.008376 4.188 0 -0.00838 4.188
θ1 0 4.188 2792 0 -4.188 1396
1
u2 100 0 0 100 0 0
v2 0 -0.00838 -4.188 0 0.008376 -4.188
θ2 0 4.188 1396 0 -4.188 2792

u2 v2 θ2 u3 v3 θ3
u2 800 0 0 300 0 0
v2 0 0.016359 6.54375 0 -0.01636 6.54375
θ2 0 6.54375 3490 0 -6.54375 1745
2
u3 800 0 0 300 0 0
v3 0 -0.01636 -6.54375 0 0.008376 -6.54375
θ3 0 6.54375 1745 0 -6.54375 3490

b. Transformasi matriks
u1 v1 θ1 u2 v2 θ2
u1 0.798636 -0.60182 0 0 0 0
v1 0.6018 0.798636 0 0 0 0
θ1 0 0 1 0 0 0
1
u2 0 0 0 0.798636 -0.60182 0
1
v2 0 0 0 0.6018 0.798636 0
θ2 0 0 0 0 0 1

u2 v2 θ2 u3 v3 θ3
u2 0.798636 -0.60182 0 0 0 0
v2 0.601815 0.798636 0 0 0 0
θ2 0 0 1 0 0 0
2
u3 0 0 0 0.798636 -0.60182 0
v3 0 0 0 0.601815 0.798636 0
θ3 0 0 0 0 0 1

C matriks transpose transformasi

u1 v1 θ1 u2 v2 θ2
u1 0.798636 0.6018 0 0 0 0
v1 -0.60182 0.798636 0 0 0 0
θ1 0 0 1 0 0 0
1
u2 0 0 0 0.798636 0.6018 0
v2 0 0 0 -0.60182 0.798636 0
θ2 0 0 0 0 0 1

u2 v2 θ2 u3 v3 θ3
u2 0.798636 0.601815 0 0 0 0
v2 -0.60182 0.798636 0 0 0 0
θ2 0 0 1 0 0 0
2
u3 0 0 0 0.798636 0.601815 0
v3 0 0 0 -0.60182 0.798636 0
θ3 0 0 0 0 0 1

d matriks kekakuan global

u1 v1 θ1 u3 v3 θ3
u1 63.7849 -48.0591 2.520338 63.77883 -48.0671 2.520338
v1 -48.0591 36.22347 3.344686 -48.0671 36.21279 3.344686
θ1 2.520338 3.344686 2792 -2.52034 -3.34469 1396
1
u3 63.77883 -48.0671 -2.52034 63.7849 -48.0591 -2.52034
v3 -48.0671 36.21279 -3.34469 -48.0591 36.22347 -3.34469
θ3 2.520338 3.344686 1396 -2.52034 -3.34469 2792

u2 v2 θ2 u3 v3 θ3
u2 510.2609 -384.497 3.938127 191.3397 -144.197 3.938127

2
 v2 -384.497 289.7555 5.226071 -144.197 108.644 5.226071
θ2 3.938127 5.226071 3490 -3.93813 -5.22607 1745
2
u3 510.249 -384.513 -3.93813 191.3486 -144.185 -3.93813
v3 -384.513 289.7346 -5.22607 -144.185 108.6597 -5.22607
θ3 3.938127 5.226071 1745 -3.93813 -5.22607 3490

e Overall stiffness matrix

u1 v1 θ1 u2 v2 θ2 u3
u1 63.7849 -48.0591 2.520338 0 0 0 63.77883
v1 -48.0591 36.22347 3.344686 0 0 0 -48.0671
θ1 2.520338 3.344686 2792 0 0 0 -2.52034
u2 0 0 0 510.2609 -384.497 3.938127 255.1335
v2 0 0 0 -384.497 289.7555 5.226071 -192.244
θ2 0 0 0 3.938127 5.226071 3490 -6.45847
u3 63.77883 -48.0671 -2.52034 510.249 -384.513 -3.93813 63.7849
v3 -48.0671 36.21279 -3.34469 -384.513 289.7346 -5.22607 -48.0591
θ3 2.520338 3.344686 1396 3.938127 5.226071 1745 -2.52034

f Rearrangement
u3 v3 θ3 u1 v1 θ1 u2
u3 63.7849 -48.0591 -2.52034 63.77883 -48.0671 -2.52034 510.249
v3 -48.0591 36.22347 -3.34469 -48.0671 36.21279 -3.34469 -384.513
θ3 -2.52034 -3.34469 2792 2.520338 3.344686 1396 3.938127
u1 63.77883 -48.0671 2.520338 63.7849 -48.0591 2.520338 0
v1 -48.0671 36.21279 3.344686 -48.0591 36.22347 3.344686 0
θ1 -2.52034 -3.34469 1396 2.520338 3.344686 2792 0
u2 255.1335 -192.244 -6.45847 0 0 0 510.2609
v2 -192.244 144.8832 -8.57076 0 0 0 -384.497
θ2 -6.45847 -8.57076 6282 0 0 0 3.938127
 g uknown displacement and reaction
v3 θ3
-48.0671 2.520338 -3.9 172.971 229.527 0.431103
36.21279 3.344686 1.4 = 229.527 304.6026 0.572094 x
-3.34469 1396 -3 0.431103 0.572094 0.001433
-192.244 -6.45847
144.8832 -8.57076 u3 63.7849 -48.0591 -2.52034
-8.57076 6282 v3 = -48.0591 36.22347 -3.34469 x
-48.0591 -2.52034 θ3 -2.52034 -3.34469 2792
36.22347 -3.34469
-3.34469 2792 u3 -308.483
v3 = 248.1773
θ3 -8370.85

v2 θ2 h Elemen Forcess
-384.513 -3.93813
Matriks Kekakuan Global X Transpose Matriks
289.7346 -5.22607
5.226071 1745
0 0 Elemen 1
0 0 f1 63.7849 -48.0591 2.520338 63.77883
0 0 g1 -48.0591 36.22347 3.344686 -48.0671
-384.497 3.938127 m1 2.520338 3.344686 2792 -2.52034
=
289.7555 5.226071 f2 63.77883 -48.0671 -2.52034 63.7849
5.226071 3490 g2 -48.0671 36.21279 -3.34469 -48.0591
m2 2.520338 3.344686 1396 -2.52034

Elemen 2
f2 510.2609 -384.497 3.938127 191.3397
g2 -384.497 289.7555 5.226071 -144.197
m2 3.938127 5.226071 3490 -3.93813
=
f3 510.249 -384.513 -3.93813 191.3486
g3 -384.513 289.7346 -5.22607 -144.185
m3 3.938127 5.226071 1745 -3.93813
 u3 u1 63.77883 -48.0671 2.520338
v3 v1 -48.0671 36.21279 3.344686
θ3 θ1 -2.52034 -3.34469 1396 -308.483
X =
u2 255.1335 -192.244 -6.45847 248.1773
-3.9 v2 -192.244 144.8832 -8.57076 -8370.85
1.4 θ2 -6.45847 -8.57076 6282
-3

nspose Matriks X uknow displacmenent and reaction

-48.0671 2.520338 0.798636 0.6018 0 0 0 0

36.21279 3.344686 -0.60182 0.798636 0 0 0 0
-3.34469 1396 0 0 1 0 0 0
X X
-48.0591 -2.52034 0 0 0 0.798636 0.6018 0
36.22347 -3.34469 0 0 0 -0.60182 0.798636 0
-3.34469 2792 0 0 0 0 0 1

-144.197 3.938127 0.798636 0.601815 0 0 0 0

108.644 5.226071 -0.60182 0.798636 0 0 0 0
-5.22607 1745 0 0 1 0 0 0
X X
-144.185 -3.93813 0 0 0 0.798636 0.601815 0
108.6597 -5.22607 0 0 0 -0.60182 0.798636 0
-5.22607 3490 0 0 0 0 0 1
-52701.2
-4182.8
-1E+07
-72352.1
167005
-5E+07

0 -45735.4
0 -9434.4
0 -1E+07
=
-308.483 -3538.13
248.1773 46564.67
-8370.85 -2E+07

0 -106878
0 11945
0 -1E+07
=
-308.483 -40942.9
248.1773 99443.21
-8370.85 -3E+07
 549

ELEMEN A ELEMEN B ELEMEN C

E 2000 A1 800 A2 549 A3
I 324 I 324 I
L 900 L 500 L

1 2 3 4 5 6
1 AE/L 0 0 AE/L 0 0
2 0 12EI/L3 6EI/L2 0 -12EI/L3 6EI/L2
3 0 6EI/L2 4EI/L 0 -6EI/L2 2EI/L
4 AE/L 0 0 AE/L 0 0
5 0 -12EI/L3 - 6EI/L2 0 12EI/L3 -6EI/L2
6 0 6EI/L2 2EI/L 0 -6EI/L2 4EI/L

BATANG L AE/L 12EI/L3 4EI/L 2EI/L 6EI/L2 α

1 900 1777.778 0.010667 2880 1440 4.8 90
2 500 2196 0.062208 5184 2592 15.552 0
3 500 3200 0.062208 5184 2592 15.552 270

A. Matriks kekakuan elemen (member stiffness matrix)

u1 v1 θ1 u3 v3 θ3
u1 1777.778 0 0 1777.778 0 0
v1 0 0.010667 4.8 0 -0.15 24.3
θ1 0 4.8 2880 0 -24.3 3420
1
u3 -1777.78 0 0 1777.778 0 0
v3 0 -0.15 -24.3 0 0.15 -24.3
θ3 0 24.3 1440 0 -24.3 6840

A. Matriks kekakuan elemen (member stiffness matrix)

u2 v2 θ2 u3 v3 θ3
u2 2196 0 0 2196 0 0
v2 0 0.024 3.888 0 -0.024 3.888
θ2 0 3.888 2592 0 -3.888 1296
2
u3 -3600 0 0 2196 0 0
v3 0 -0.024 -3.888 0 0.024 -3.888
θ3 0 3.888 1296 0 -3.888 2592

A. Matriks kekakuan elemen (member stiffness matrix)

u3 v3 θ3 u4 v4 θ4
u3 1777.778 0 0 1777.778 0 0
v3 0 0.010667 4.8 0 -0.15 24.3
θ3 0 4.8 2880 0 -24.3 3420
3
u4 -1777.78 0 0 1777.778 0 0
3
v4 0 -0.15 -24.3 0 0.15 -24.3
θ4 0 24.3 1440 0 -24.3 6840

D. Matriks Kekakuan Global

u1 v1 θ1 u3 v3 θ3
u1 0.010667 0 -4.8 -0.15 0 -24.3
v1 0 1777.778 0 0 1777.778 0
θ1 -4.8 0 2880 24.3 0 3420
1
u3 -0.15 0 24.3 0.15 0 24.3
v3 0 -1777.78 0 0 1777.778 0
θ3 -24.3 0 1440 24.3 0 6840

u2 v2 θ2 u3 v3 θ3
u2 2196 0 0 2196 0 0
v2 0 0.024 3.888 0 -0.024 3.888
θ2 0 3.888 2592 0 -3.888 1296
2
u3 -3600 0 0 2196 0 0
v3 0 -0.024 -3.888 0 0.024 -3.888
θ3 0 3.888 1296 0 -3.888 2592

u3 v3 θ3 u4 v4 θ4
u3 0.010667 0 4.8 -0.15 0 24.3
v3 0 1777.778 0 0 1777.778 0
θ3 4.8 0 2880 -24.3 0 3420
3
u4 -0.15 0 -24.3 0.15 0 -24.3
v4 0 -1777.78 0 0 1777.778 0
θ4 24.3 0 1440 -24.3 0 6840

uknown displacement and reaction

-50 0.000455 -1.2E-09 -1.1E-06 u3

20 = -1.2E-09 0.000281 8.88E-08 x v3
25 -1.1E-06 8.88E-08 8.12E-05 θ3

u3 0.000455 -1.2E-09 -1.1E-06 -50

v3 = -1.2E-09 0.000281 8.88E-08 x 20
θ3 -1.1E-06 8.88E-08 8.12E-05 25

u3 -0.02279
 v3 = 0.005627
θ3 0.002086

Elemen Forcess

u1 v1 θ1 u3 v3 θ3
u1 1777.778 0 0 1777.778 0 0
v1 0 0.010667 4.8 0 -0.15 24.3
θ1 0 4.8 2880 0 -24.3 3420
X
u3 -1777.78 0 0 1777.778 0 0
v3 0 -0.15 -24.3 0 0.15 -24.3
θ3 0 24.3 1440 0 -24.3 6840

u2 v2 θ2 u3 v3 θ3
u2 2196 0 0 2196 0 0
v2 0 0.024 3.888 0 -0.024 3.888
θ2 0 3.888 2592 0 -3.888 1296
X
u3 -3600 0 0 2196 0 0
v3 0 -0.024 -3.888 0 0.024 -3.888
θ3 0 3.888 1296 0 -3.888 2592

u3 v3 θ3 u4 v4 θ4
u3 1777.778 0 0 1777.778 0 0
v3 0 0.010667 4.8 0 -0.15 24.3
θ3 0 4.8 2880 0 -24.3 3420
X
u4 -1777.78 0 0 1777.778 0 0
v4 0 -0.15 -24.3 0 0.15 -24.3
θ4 0 24.3 1440 0 -24.3 6840
ELEMEN C
800
324
500

b. Transformasi matriks C
u1 v1 θ1 u2 v2 θ2
u1 0 1 0 0 0 0
v1 -1 0 0 0 0 0
θ1 0 0 1 0 0 0
1 1
u2 0 0 0 0 1 0
v2 0 0 0 -1 0 0
θ2 0 0 0 0 0 1

b. Transformasi matriks
u2 v2 θ2 u3 v3 θ3
u2 1 0 0 0 0 0
v2 0 1 0 0 0 0
θ2 0 0 1 0 0 0
2 2
u3 0 0 0 1 0 0
v3 0 0 0 0 1 0
θ3 0 0 0 0 0 1

b. Transformasi matriks
u3 v3 θ3 u4 v4 θ4
u3 0 -1 0 0 0 0
v3 1 0 0 0 0 0
θ3 0 0 1 0 0 0
3 3
u4 0 0 0 0 -1 0
3 3
v4 0 0 0 1 0 0
θ4 0 0 0 0 0 1

u1 v1 θ1 u2 v2 θ2 u3 v3 θ3
u1 0.010667 0 -4.8 0 0 0 -0.15 0 -24.3
v1 0 1777.778 0 0 0 0 0 1777.778 0
θ1 -4.8 0 2880 0 0 0 24.3 0 3420
u2 0 0 0 2196 0 0 2196 0 0
v2 0 0 0 0 0.024 3.888 0 -0.024 3.888
θ2 0 0 0 0 3.888 2592 0 -3.888 1296
u3 -0.15 0 24.3 -3600 0 0 2196.161 0 29.1
v3 0 -1777.78 0 0 -0.024 -3.888 0 3555.58 -3.888
θ3 -24.3 0 1440 0 3.888 1296 29.1 -3.888 12312
u4 0 0 0 0 0 0 -0.15 0 -24.3
v4 0 0 0 0 0 0 0 -1777.78 0
θ4 0 0 0 0 0 0 24.3 0 1440

Rearrangement

u3 v3 θ3 u1 v1 θ1 u2 v2 θ2
u3 2196.161 0 29.1 -0.15 0 24.3 -3600 0 0
v3 0 3555.58 -3.888 0 -1777.78 0 0 -0.024 -3.888
θ3 29.1 -3.888 12312 -24.3 0 1440 0 3.888 1296
u1 -0.15 0 -24.3 0.010667 0 -4.8 0 0 0
v1 0 1777.778 0 0 1777.778 0 0 0 0
θ1 24.3 0 3420 -4.8 0 2880 0 0 0
u2 2196 0 0 0 0 0 2196 0 0
v2 0 -0.024 3.888 0 0 0 0 0.024 3.888
θ2 0 -3.888 1296 0 0 0 0 3.888 2592
u4 -0.15 0 -24.3 0 0 0 0 0 0
v4 0 -1777.78 0 0 0 0 0 0 0
θ4 24.3 0 1440 0 0 0 0 0 0

u1 -0.15 0 -24.3 -0.04728

v1 0 1777.778 0 10.00399
θ1 24.3 0 3420 6.580869
u2 2196 0 0 -0.02279 -50.057
v2 0 -0.024 3.888 0.005627 0.007976
X =
θ2 0 -3.888 1296 0.002086 2.681827
u4 -0.15 0 -24.3 -0.04728
v4 0 -1777.78 0 -10.004
θ4 24.3 0 1440 2.450207
0 -1 0 0 0 0 0 -10.004
1 0 0 0 0 0 0 0.054114
0 0 1 0 0 0 0 7.688689
X =
0 0 0 0 -1 0 -0.02279 -10.004
0 0 0 1 0 0 0.005627 -0.05411
0 0 0 0 0 1 0.002086 14.82347

1 0 0 0 0 0 0 -50.057
0 1 0 0 0 0 0 0.007976
0 0 1 0 0 0 0 2.681827
X =
0 0 0 1 0 0 -0.02279 -50.057
0 0 0 0 1 0 0.005627 -0.00798
0 0 0 0 0 1 0.002086 5.385532

0 1 0 0 0 0 0 10.00399
-1 0 0 0 0 0 0 0.047275
0 0 1 0 0 0 0 6.580869
X =
0 0 0 0 1 0 -0.02279 10.00399
0 0 0 -1 0 0 0.005627 -0.04728
0 0 0 0 0 1 0.002086 13.71565
 matriks transpose transformasi
u1 v1 θ1 u2 v2 θ2
u1 0 -1 0 0 0 0
v1 1 0 0 0 0 0
θ1 0 0 1 0 0 0
u2 0 0 0 0 -1 0
v2 0 0 0 1 0 0
θ2 0 0 0 0 0 1

matriks transpose transformasi

u2 v2 θ2 u3 v3 θ3
u2 1 0 0 0 0 0
v2 0 1 0 0 0 0
θ2 0 0 1 0 0 0
u3 0 0 0 1 0 0
v3 0 0 0 0 1 0
θ3 0 0 0 0 0 1

matriks transpose transformasi

u3 v3 θ3 u4 v4 θ4
u3 0 1 0 0 0 0
v3 -1 0 0 0 0 0
θ3 0 0 1 0 0 0
u4 0 0 0 0 1 0
 v4 0 0 0 -1 0 0
θ4 0 0 0 0 0 1

v4 v4 θ4
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
-0.15 0 24.3
0 1777.778 0
-24.3 0 3420
0.15 0 -24.3
0 1777.778 0
-24.3 0 6840

v4 v4 θ4
-0.15 0 24.3 F1
0 1777.778 0 G1
-24.3 0 3420 θ1
0 0 0 F1
0 0 0 G1
0 0 0 θ1
0 0 0 F2
0 0 0 G2
0 0 0 θ2
0.15 0 -24.3 F4
0 1777.778 0 G4
-24.3 0 6840 θ4
 2.50418

-92.04673

40.30449
 649

E 2000

ELEMEN A ELEMEN B ELEMEN C

A1 750 A2 649 A3
EI 16400 EI 8200 EI
L 550 L 700 L

1 2 3 4 5 6
1 AE/L 0 0 AE/L 0 0
2 0 12EI/L3 6EI/L2 0 -12EI/L3 6EI/L2
3 0 6EI/L2 4EI/L 0 -6EI/L2 2EI/L
4 AE/L 0 0 AE/L 0 0
5 0 -12EI/L3 - 6EI/L2 0 12EI/L3 -6EI/L2
6 0 6EI/L2 2EI/L 0 -6EI/L2 4EI/L

BATANG L AE/L 12EI/L3 4EI/L 2EI/L 6EI/L2

1 550 22363.64 0.00118287002 119.272727273 59.6363636364 0.325289
2 700 7602.571 0.00028688047 46.8571428571 23.4285714286 0.100408
3 500 10643.6 0.0007872 65.6 32.8 0.1968

A. Matriks kekakuan elemen (member stiffness matrix)

u1 v1 θ1 u2 v2
u1 22363.64 0 0 22363.6363636 0
v1 0 0.00118287002 0.3252892562 0 -0.001183
θ1 0 0.3252892562 119.272727273 0 -0.33
1
u2 -22363.6 0 0 22363.6363636 0
v2 0 -0.00118287 -0.3252892562 0 0.001183
θ2 0 0.3252892562 59.6363636364 0 -0.325289

A. Matriks kekakuan elemen (member stiffness matrix)

u2 v2 θ2 u3 v3
u2 7602.571 0 0 7602.57142857 0
v2 0 0.00028688047 0.10040816327 0 -0.000287
θ2 0 0.10040816327 46.8571428571 0 -0.100408
2
u3 -10643.6 0 0 7602.57142857 0
v3 0 -0.0002868805 -0.1004081633 0 0.000287
θ3 0 0.10040816327 23.4285714286 0 -0.100408

A. Matriks kekakuan elemen (member stiffness matrix)

u3 v3 θ3 u4 v4
u3 7602.571 0 0 10643.6 0
v3 0 0.0007872 0.1968 0 -0.000787
θ3 0 0.1968 65.6 0 -0.1968
3
3
u4 -10643.6 0 0 10643.6 0
v4 0 -0.0007872 -0.1968 0 0.000787
θ4 0 0.1968 32.8 0 -0.1968

D. Matriks Kekakuan Global

u1 v1 θ1 u2 v2
u1 0.001183 0 -0.3252892562 -0.00118287 0
v1 0 22363.6363636 0 0 22363.64
θ1 -0.32529 0 119.272727273 0.3252892562 0
1
u2 -0.00118 0 0.3252892562 0.00118287002 0
v2 0 -22363.636364 0 0 22363.64
θ2 -0.32529 0 59.6363636364 0.3252892562 0

u2 v2 θ2 u3 v3
u2 7602.571 0 0 7602.57142857 0
v2 0 0.00028688047 0.10040816327 0 -0.000287
θ2 0 0.10040816327 46.8571428571 0 -0.100408
2
u3 -10643.6 0 0 7602.57142857 0
v3 0 -0.0002868805 -0.1004081633 0 0.000287
θ3 0 0.10040816327 23.4285714286 0 -0.100408

u3 v3 θ3 u4 v4
u3 4849.062 -3654.0299741 -0.1184371966 6788.68659508 -5115.643
v3 -3654.03 2753.50987339 -0.1571714684 -5115.6428718 3854.913
θ3 -0.11844 -0.1571714684 65.6 0.11843719656 0.157171
3
u4 -6788.69 5115.64211509 0.11843719656 6788.6871653 -5115.642
v4 5115.642 -3854.9136219 0.15717146838 -5115.6421151 3854.914
θ4 -0.11844 -0.1571714684 32.8 0.11843719656 0.157171

uknown displacement and reaction

34 0.00013153443 0.00017455207 5.3833509E-07

39 = 0.00017455207 0.00059481127 1.546231E-06 x
40 5.3833509E-07 1.546231E-06 0.00889228053

u3 0.00013153443 0.00017455207 5.3833509E-07

v3 = 0.00017455207 0.00059481127 1.546231E-06 x
θ3 5.3833509E-07 1.546231E-06 0.00889228053
 u3 0.01130123457
v3 = 0.02919425905
θ3 0.35576982766

Elemen Forcess

u1 v1 θ1 u3 v3
u1 22363.64 0 0 22363.6363636 0
v1 0 0.00118287002 0.3252892562 0 -0.001183
θ1 0 0.3252892562 119.272727273 0 -0.325289
u3 -22363.6 0 0 22363.6363636 0
v3 0 -0.00118287 -0.3252892562 0 0.001183
θ3 0 0.3252892562 59.6363636364 0 -0.325289

u2 v2 θ2 u3 v3
u2 7602.571 0 0 7602.57142857 0
v2 0 0.00028688047 0.10040816327 0 -0.000287
θ2 0 0.10040816327 46.8571428571 0 -0.100408
u3 -10643.6 0 0 7602.57142857 0
v3 0 -0.0002868805 -0.1004081633 0 0.000287
θ3 0 0.10040816327 23.4285714286 0 -0.100408

u3 v3 θ3 u4 v4
u3 7602.571 0 0 10643.6 0
v3 0 0.0007872 0.1968 0 -0.000787
θ3 0 0.1968 65.6 0 -0.1968
u4 -10643.6 0 0 10643.6 0
v4 0 -0.0007872 -0.1968 0 0.000787
θ4 0 0.1968 32.8 0 -0.1968
ELEMEN C
649
8200
500

α
90
0
143

b. Transformasi matriks
θ2 u1 v1 θ1 u2 v2 θ2
0 u1 0 1 0 0 0 0
0.325289 v1 -1 0 0 0 0 0
59.63636 θ1 0 0 1 0 0 0
1
0 u2 0 0 0 0 1 0
-0.32529 v2 0 0 0 -1 0 0
119.2727 θ2 0 0 0 0 0 1

b. Transformasi matriks
θ3 u2 v2 θ2 u3 v3 θ3
0 u2 1 0 0 0 0 0
0.100408 v2 0 1 0 0 0 0
23.42857 θ2 0 0 1 0 0 0
2
0 u3 0 0 0 1 0 0
-0.10041 v3 0 0 0 0 1 0
46.85714 θ3 0 0 0 0 0 1

b. Transformasi matriks
θ4 u3 v3 θ3 u4 v4 θ4
0 u3 -0.79864 0.601815 0 0 0 0
0.1968 v3 -0.60182 -0.79864 0 0 0 0
32.8 θ3 0 0 1 0 0 0
3
 3
0 u4 0 0 0 -0.79864 0.601815 0
-0.1968 v4 0 0 0 -0.60182 -0.79864 0
65.6 θ4 0 0 0 0 0 1

u1 v1 θ1 u2 v2 θ2 u3
θ2 u1 0.001183 0 -0.32529 -0.00118 0 -0.32529 0
-0.32529 v1 0 22363.64 0 0 22363.64 0 0
0 θ1 -0.32529 0 119.2727 0.325289 0 59.63636 0
59.63636 u2 -0.00118 0 0.325289 7602.573 0 0.325289 7602.571
0.325289 v2 0 -22363.6 0 0 22363.64 0.100408 0
0 θ2 -0.32529 0 59.63636 0.325289 0.100408 166.1299 0
119.2727 u3 0 0 0 -10643.6 0 0 12451.63
v3 0 0 0 0 -0.00029 -0.10041 -3654.03
θ3 0 0 0 0 0.100408 23.42857 -0.11844
θ3 u4 0 0 0 0 0 0 -6788.69
0 v4 0 0 0 0 0 0 5115.642
0.100408 θ4 0 0 0 0 0 0 -0.11844
23.42857
0 Rearrangement
-0.10041
46.85714 u3 v3 θ3 u1 v1 θ1 u2
u3 12451.63 -3654.03 -0.11844 0 0 0 -10643.6
v3 -3654.03 2753.51 -0.25758 0 0 0 0
θ4 θ3 -0.11844 -0.25758 112.4571 0 0 0 0
-0.11844 u1 0 0 0 0.001183 0 -0.32529 -0.00118
-0.15717 v1 0 0 0 0 22363.64 0 0
32.8 θ1 0 0 0 -0.32529 0 119.2727 0.325289
0.118437 u2 7602.571 0 0 -0.00118 0 0.325289 7602.573
0.157171 v2 0 -0.00029 0.100408 0 -22363.6 0 0
65.6 θ2 0 -0.10041 23.42857 -0.32529 0 59.63636 0.325289
u4 -6788.69 5115.642 0.118437 0 0 0 0
v4 5115.642 -3854.91 0.157171 0 0 0 0
θ4 -0.11844 -0.15717 32.8 0 0 0 0

u3 u1 0 0 0
v3 v1 0 0 0
θ3 θ1 0 0 0
u2 7602.571 0 0 0.011301
34 v2 0 -0.00029 0.100408 0.029194
X
39 θ2 0 -0.10041 23.42857 0.35577
40 u4 -6788.69 5115.642 0.118437
v4 5115.642 -3854.91 0.157171
 θ4 -0.11844 -0.15717 32.8

θ3
0 0 -1 0 0 0 0 0
0.325289 1 0 0 0 0 0 0
59.63636 0 0 1 0 0 0 0
X X
0 0 0 0 0 -1 0 0.011301
-0.32529 0 0 0 1 0 0 0.029194
119.2727 0 0 0 0 0 1 0.35577

θ3
0 1 0 0 0 0 0 0
0.100408 0 1 0 0 0 0 0
23.42857 0 0 1 0 0 0 0
X X
0 0 0 0 1 0 0 0.011301
-0.10041 0 0 0 0 1 0 0.029194
46.85714 0 0 0 0 0 1 0.35577

θ4
0 -0.79864 -0.60182 0 0 0 0 0
0.1968 0.601815 -0.79864 0 0 0 0 0
32.8 0 0 1 0 0 0 0
X X
0 0 0 0 -0.79864 -0.60182 0 0.011301
-0.1968 0 0 0 0.601815 -0.79864 0 0.029194
65.6 0 0 0 0 0 1 0.35577
C matriks transpose transformasi
u1 v1 θ1 u2 v2 θ2
u1 0 -1 0 0 0 0
v1 1 0 0 0 0 0
θ1 0 0 1 0 0 0
1
u2 0 0 0 0 -1 0
v2 0 0 0 1 0 0
θ2 0 0 0 0 0 1

matriks transpose transformasi

u2 v2 θ2 u3 v3 θ3
u2 1 0 0 0 0 0
v2 0 1 0 0 0 0
θ2 0 0 1 0 0 0
2
u3 0 0 0 1 0 0
v3 0 0 0 0 1 0
θ3 0 0 0 0 0 1

matriks transpose transformasi

u3 v3 θ3 u4 v4 θ4
u3 -0.79864 -0.60182 0 0 0 0
v3 0.601815 -0.79864 0 0 0 0
θ3 0 0 1 0 0 0
3
 3
u4 0 0 0 -0.79864 -0.60182 0
v4 0 0 0 0.601815 -0.79864 0
θ4 0 0 0 0 0 1

v3 θ3 v4 v4 θ4
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
-0.00029 0.100408 0 0 0
-0.10041 23.42857 0 0 0
-3654.03 -0.11844 6788.687 -5115.64 -0.11844
2753.51 -0.25758 -5115.64 3854.913 -0.15717
-0.25758 112.4571 0.118437 0.157171 32.8
5115.642 0.118437 6788.687 -5115.64 0.118437
-3854.91 0.157171 -5115.64 3854.914 0.157171
-0.15717 32.8 0.118437 0.157171 65.6

v2 θ2 v4 v4 θ4
0 0 6788.687 -5115.64 -0.11844 -50
-0.00029 -0.10041 -5115.64 3854.913 -0.15717 37
0.100408 23.42857 0.118437 0.157171 32.8 40
0 -0.32529 0 0 0 F1
22363.64 0 0 0 0 G1
0 59.63636 0 0 0 θ1
0 0.325289 0 0 0 F2
22363.64 0.100408 0 0 0 G2
0.100408 166.1299 0 0 0 θ2
0 0 6788.687 -5115.64 0.118437 F4
0 0 -5115.64 3854.914 0.157171 G4
0 0 0.118437 0.157171 65.6 θ4

0
0
0
85.91844
0.035714
=
8.332247 123.9463
72.66897
-54.6724
 11.66332

-652.89
0.115715
21.21314 -1242.14
=
-652.89
-0.11571
42.42996

85.91844
0.035714
8.332247
=
85.91844 196.8366
-0.03571
16.66743

-283.068
0.070029
11.6725 -531.1212
=
-283.068
-0.07003
23.34175