Ix= 2142.0146 cm4 G= 0.

3937008 E
Iy= 17145 cm4 A= 428.1678 cm2
Iz= 236768.16 cm4 L= 250 cm

BARRA 1
COORDENADAS LOCALES
MATRIZ DE RIGIDEZ [K]

m1 m2 m3 q1 q2 q3 m4 m5
1.7126712 0 0 0 0 0 -1.712671 0
0 0.1818379 0 0 0 22.729743 0 -0.181838
0 0 0.0131674 0 -1.64592 0 0 0
0 0 0 3.3732513 0 0 0 0
0 0 -1.64592 0 274.32 0 0 0
[K]= 0 22.729743 0 0 0 3788.2906 0 -22.72974
-1.712671 0 0 0 0 0 1.7126712 0
0 -0.181838 0 0 0 -22.72974 0 0.1818379
0 0 -0.013167 0 1.64592 0 0 0
0 0 0 -3.373251 0 0 0 0
0 0 -1.64592 0 137.16 0 0 0
0 22.729743 0 0 0 1894.1453 0 -22.72974

FUERZAS DE FIJACIÓN {f°}

0
0
0
0
0
{f°} = 0
0
0
0
0
0
0

MATRIZ DE ROTACIÓN [A]

1 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0
0 0 0 0 1 0 0 0
[A]= 0 0 0 0 0 1 0 0
0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 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

MATRIZ DE ROTACIÓN [AT] EN EL PLANO

1 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0
0 0 0 0 1 0 0 0
[AT]= 0 0 0 0 0 1 0 0
0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 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

PROCESO DE RETORNO
〖 {𝑢} 〗 _𝑚= 〖 [𝐴] 〗
_𝑚 𝑥 〖 {(𝑢}) ̅ 〗 _𝑚
1 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0
0 0 0 0 1 0 0 0
𝑢_1 0 0 0 0 0 1 0 0
= 0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 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

〖 {𝑓 〗 _𝑒𝑚}𝑚= 〖〖 {𝑓 〗 ^°} 〗 _𝑚+ 〖 [𝑘] 〗 _𝑚 𝑥𝐸𝑥 〖

0 1.7126712 0 0 0 0 0
0 0 0.1818379 0 0 0 22.729743
0 0 0 0.0131674 0 -1.64592 0
0 0 0 0 3.3732513 0 0
0 0 0 -1.64592 0 274.32 0
0 + 0 22.729743 0 0 0 3788.2906
0 -1.712671 0 0 0 0 0
0 0 -0.181838 0 0 0 -22.72974
0 0 0 -0.013167 0 1.64592 0
0 0 0 0 -3.373251 0 0
0 0 0 -1.64592 0 137.16 0
0 0 22.729743 0 0 0 1894.1453
 MATRIZ DE RIGIDEZ [𝐾 ̅ ]= 〖 [𝐴] 〗 ^𝑇
[𝐾][𝐴]
m6 q4 q5 q6 m1 m2 m3
0 0 0 0 1.7126712 0 0
0 0 0 22.729743 0 0.1818379 0
-0.013167 0 -1.64592 0 0 0 0.0131674
0 -3.373251 0 0 0 0 0
1.64592 0 137.16 0 0 0 -1.64592
0 0 0 1894.1453 [𝐾 ̅]= 0 22.729743 0
0 0 0 0 -1.712671 0 0
0 0 0 -22.72974 0 -0.181838 0
0.0131674 0 1.64592 0 0 0 -0.013167
0 3.3732513 0 0 0 0 0
1.64592 0 274.32 0 0 0 -1.64592
0 0 0 3788.2906 0 22.729743 0

{(𝑓°) ̅ }= 〖 [𝐴] 〗 ^𝑇 {𝑓°}

FUERZAS DE FIJACIÓN

0
0
0
0
0
{(𝒇°) ̅ }= 0
0
0
0
0
0
0

0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
 1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 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
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 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 0
0 0 0 0 X -221.3676 = -221.3676
0 0 0 0 -14979.79 -14979.79
1 0 0 0 -42056.99 -42056.99
0 1 0 0 -54027.75 -54027.75
0 0 1 0 389.6549 389.6549
0 0 0 1 28.523081 28.523081

_𝑚+ 〖 [𝑘] 〗 _𝑚 𝑥𝐸𝑥 〖 {𝑢} 〗 _𝑚

-1.712671 0 0 0 0 0 0
0 -0.181838 0 0 0 22.729743 0
0 0 -0.013167 0 -1.64592 0 0
0 0 0 -3.373251 0 0 0
0 0 1.64592 0 137.16 0 0
0 -22.72974 0 0 0 1894.1453 X 0 =
1.7126712 0 0 0 0 0 -221.3676
0 0.1818379 0 0 0 -22.72974 -14979.79
0 0 0.0131674 0 1.64592 0 -42056.99
0 0 0 3.3732513 0 0 -54027.75
0 0 1.64592 0 274.32 0 389.6549
0 -22.72974 0 0 0 3788.2906 28.523081
 COORDENADAS GLOBALES
[𝐾 ̅ ]= 〖 [𝐴] 〗 ^𝑇
[𝐾][𝐴]
q1 q2 q3 m4 m5 m6 q4 q5 q6
0 0 0 -1.712671 0 0 0 0 0
0 0 22.729743 0 -0.181838 0 0 0 22.729743
0 -1.64592 0 0 0 -0.013167 0 -1.64592 0
3.3732513 0 0 0 0 0 -3.373251 0 0
0 274.32 0 0 0 1.64592 0 137.16 0
0 0 3788.2906 0 -22.72974 0 0 0 1894.1453
0 0 0 1.7126712 0 0 0 0 0
0 0 -22.72974 0 0.1818379 0 0 0 -22.72974
0 1.64592 0 0 0 0.0131674 0 1.64592 0
-3.373251 0 0 0 0 0 3.3732513 0 0
0 137.16 0 0 0 1.64592 0 274.32 0
0 0 1894.1453 0 -22.72974 0 0 0 3788.2906

{(𝑓°) ̅ }= 〖 [𝐴] 〗 ^𝑇 {𝑓°}

379.12983 0.3791298 T
3372.2161 3.3722161 T
-87.56124 -0.087561 T
182249.18 1.8224918 T-M
-15777.38 -0.157774 T-M
394513.58 = 3.9451358 T-M
-379.1298 -0.37913 T
-3372.216 -3.372216 T
87.561236 0.0875612 T
-182249.2 -1.822492 T-M
37667.687 0.3766769 T-M
448540.44 4.4854044 T-M
 Ix= 2142.0146 cm4 G= 0.3937008 E
Iy= 17145 cm4 A= 428.1678 cm2
Iz= 236768.16 cm4 L= 200 cm

BARRA 1
COORDENADAS LOCALES
MATRIZ DE RIGIDEZ [K]

m4 m5 m6 q4 q5 q6 m7 m8
2.140839 0 0 0 0 0 -2.140839 0
0 0.3551522 0 0 0 35.515224 0 -0.355152
0 0 0.0257175 0 -2.57175 0 0 0
0 0 0 4.2165641 0 0 0 0
0 0 -2.57175 0 342.9 0 0 0
[K]= 0 35.515224 0 0 0 4735.3632 0 -35.51522
-2.140839 0 0 0 0 0 2.140839 0
0 -0.355152 0 0 0 -35.51522 0 0.3551522
0 0 -0.025718 0 2.57175 0 0 0
0 0 0 -4.216564 0 0 0 0
0 0 -2.57175 0 171.45 0 0 0
0 35.515224 0 0 0 2367.6816 0 -35.51522

FUERZAS DE FIJACIÓN {f°}

0
0
0
0
0
{f°} = 0
0
0
0
0
0
0

MATRIZ DE ROTACIÓN [A]

1 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0
0 0 0 0 1 0 0 0
[A]= 0 0 0 0 0 1 0 0
0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 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

MATRIZ DE ROTACIÓN [AT] EN EL PLANO

1 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0
0 0 0 0 1 0 0 0
[AT]= 0 0 0 0 0 1 0 0
0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 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

PROCESO DE RETORNO
〖 {𝑢} 〗 _𝑚= 〖 [𝐴] 〗
_𝑚 𝑥 〖 {(𝑢}) ̅ 〗 _𝑚
1 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0
0 0 0 0 1 0 0 0
𝑢_1 0 0 0 0 0 1 0 0
= 0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 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

〖 {𝑓 〗 _𝑒𝑚}𝑚= 〖〖 {𝑓 〗 ^°} 〗 _𝑚+ 〖 [𝑘] 〗 _𝑚 𝑥𝐸𝑥 〖

0 2.140839 0 0 0 0 0
0 0 0.3551522 0 0 0 35.515224
0 0 0 0.0257175 0 -2.57175 0
0 0 0 0 4.2165641 0 0
0 0 0 -2.57175 0 342.9 0
0 + 0 35.515224 0 0 0 4735.3632
0 -2.140839 0 0 0 0 0
0 0 -0.355152 0 0 0 -35.51522
0 0 0 -0.025718 0 2.57175 0
0 0 0 0 -4.216564 0 0
0 0 0 -2.57175 0 171.45 0
0 0 35.515224 0 0 0 2367.6816
 MATRIZ DE RIGIDEZ [𝐾 ̅ ]= 〖 [𝐴] 〗 ^𝑇
[𝐾][𝐴]
m9 q7 q8 q9 m4 m5 m6
0 0 0 0 2.140839 0 0
0 0 0 35.515224 0 0.3551522 0
-0.025718 0 -2.57175 0 0 0 0.0257175
0 -4.216564 0 0 0 0 0
2.57175 0 171.45 0 0 0 -2.57175
0 0 0 2367.6816 [𝐾 ̅]= 0 35.515224 0
0 0 0 0 -2.140839 0 0
0 0 0 -35.51522 0 -0.355152 0
0.0257175 0 2.57175 0 0 0 -0.025718
0 4.2165641 0 0 0 0 0
2.57175 0 342.9 0 0 0 -2.57175
0 0 0 4735.3632 0 35.515224 0

{(𝑓°) ̅ }= 〖 [𝐴] 〗 ^𝑇 {𝑓°}

FUERZAS DE FIJACIÓN

0
0
0
0
0
{(𝒇°) ̅ }= 0
0
0
0
0
0
0

0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
 1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 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
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1

0 0 0 0 -221.3676 -221.3676
0 0 0 0 -14979.79 -14979.79
0 0 0 0 -42056.99 -42056.99
0 0 0 0 -54027.75 -54027.75
0 0 0 0 389.6549 389.6549
0 0 0 0 28.523081 28.523081
0 0 0 0 X 0 = 0
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

_𝑚+ 〖 [𝑘] 〗 _𝑚 𝑥𝐸𝑥 〖 {𝑢} 〗 _𝑚

-2.140839 0 0 0 0 0 -221.3676
0 -0.355152 0 0 0 35.515224 -14979.79
0 0 -0.025718 0 -2.57175 0 -42056.99
0 0 0 -4.216564 0 0 -54027.75
0 0 2.57175 0 171.45 0 389.6549
0 -35.51522 0 0 0 2367.6816 X 28.523081 =
2.140839 0 0 0 0 0 0
0 0.3551522 0 0 0 -35.51522 0
0 0 0.0257175 0 2.57175 0 0
0 0 0 4.2165641 0 0 0
0 0 2.57175 0 342.9 0 0
0 -35.51522 0 0 0 4735.3632 0
 COORDENADAS GLOBALES
[𝐾 ̅ ]= 〖 [𝐴] 〗 ^𝑇
[𝐾][𝐴]
q4 q5 q6 m7 m8 m9 q7 q8 q9
0 0 0 -2.140839 0 0 0 0 0
0 0 35.515224 0 -0.355152 0 0 0 35.515224
0 -2.57175 0 0 0 -0.025718 0 -2.57175 0
4.2165641 0 0 0 0 0 -4.216564 0 0
0 342.9 0 0 0 2.57175 0 171.45 0
0 0 4735.3632 0 -35.51522 0 0 0 2367.6816
0 0 0 2.140839 0 0 0 0 0
0 0 -35.51522 0 0.3551522 0 0 0 -35.51522
0 2.57175 0 0 0 0.0257175 0 2.57175 0
-4.216564 0 0 0 0 0 4.2165641 0 0
0 171.45 0 0 0 2.57175 0 342.9 0
0 0 2367.6816 0 -35.51522 0 0 0 4735.3632

{(𝑓°) ̅ }= 〖 [𝐴] 〗 ^𝑇 {𝑓°}

-473.9123 -0.473912 T
-4307.101 -4.307101 T
-2083.696 -2.083696 T
-227811.5 -2.278115 T-M
241772.73 2.4177273 T-M
-396943.4 = -3.969434 T-M
473.91229 0.4739123 T
4307.1014 4.3071014 T
2083.6957 2.0836957 T
227811.47 2.2781147 T-M
 174966.4 1.749664 T-M
-464476.9 -4.644769 T-M
 Ix= 2142.0146 cm4 G= 0.3937008 E
Iy= 17145 cm4 A= 428.1678 cm2
Iz= 236768.16 cm4 L= 300 cm

BARRA 1
COORDENADAS LOCALES
MATRIZ DE RIGIDEZ [K]

m4 m5 m6 q4 q5 q6 m10 m11
1.427226 0 0 0 0 0 -1.427226 0
0 0.1052303 0 0 0 15.784544 0 -0.10523
0 0 0.00762 0 -1.143 0 0 0
0 0 0 2.8110428 0 0 0 0
0 0 -1.143 0 228.6 0 0 0
[K]= 0 15.784544 0 0 0 3156.9088 0 -15.78454
-1.427226 0 0 0 0 0 1.427226 0
0 -0.10523 0 0 0 -15.78454 0 0.1052303
0 0 -0.00762 0 1.143 0 0 0
0 0 0 -2.811043 0 0 0 0
0 0 -1.143 0 114.3 0 0 0
0 15.784544 0 0 0 1578.4544 0 -15.78454

FUERZAS DE FIJACIÓN {f°}

0
0
0
0
0
{f°} = 0
0
0
0
0
0
0

MATRIZ DE ROTACIÓN [A] P= (2,2,0)

0 1 0 0 0 0 0 0
-1 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 0 1 0 0 0
0 0 0 -1 0 0 0 0
[A]= 0 0 0 0 0 1 0 0
0 0 0 0 0 0 0 1
0 0 0 0 0 0 -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

MATRIZ DE ROTACIÓN [AT] EN EL PLANO

0 -1 0 0 0 0 0 0
1 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 0 -1 0 0 0
0 0 0 1 0 0 0 0
[AT]= 0 0 0 0 0 1 0 0
0 0 0 0 0 0 0 -1
0 0 0 0 0 0 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

PROCESO DE RETORNO
〖 {𝑢} 〗 _𝑚= 〖 [𝐴] 〗
_𝑚 𝑥 〖 {(𝑢}) ̅ 〗 _𝑚
0 1 0 0 0 0 0 0
-1 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 0 1 0 0 0
0 0 0 -1 0 0 0 0
𝑢_1 0 0 0 0 0 1 0 0
= 0 0 0 0 0 0 0 1
0 0 0 0 0 0 -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

〖 {𝑓 〗 _𝑒𝑚}𝑚= 〖〖 {𝑓 〗 ^°} 〗 _𝑚+ 〖 [𝑘] 〗 _𝑚 𝑥𝐸𝑥 〖

0 1.427226 0 0 0 0 0
0 0 0.1052303 0 0 0 15.784544
0 0 0 0.00762 0 -1.143 0
0 0 0 0 2.8110428 0 0
0 0 0 -1.143 0 228.6 0
0 + 0 15.784544 0 0 0 3156.9088
0 -1.427226 0 0 0 0 0
0 0 -0.10523 0 0 0 -15.78454
0 0 0 -0.00762 0 1.143 0
0 0 0 0 -2.811043 0 0
0 0 0 -1.143 0 114.3 0
0 0 15.784544 0 0 0 1578.4544
 MATRIZ DE RIGIDEZ [𝐾 ̅ ]= 〖 [𝐴] 〗 ^𝑇
[𝐾][𝐴]
m12 q10 q11 q12 m4 m5 m6
0 0 0 0 0.1052303 0 0
0 0 0 15.784544 0 1.427226 0
-0.00762 0 -1.143 0 0 0 0.00762
0 -2.811043 0 0 0 0 1.143
1.143 0 114.3 0 0 0 0
0 0 0 1578.4544 [𝐾 ̅]= -15.78454 0 0
0 0 0 0 -0.10523 0 0
0 0 0 -15.78454 0 -1.427226 0
0.00762 0 1.143 0 0 0 -0.00762
0 2.8110428 0 0 0 0 1.143
1.143 0 228.6 0 0 0 0
0 0 0 3156.9088 -15.78454 0 0

FUERZAS DE FIJACIÓN{(𝑓°) ̅ }= 〖 [𝐴] 〗 ^𝑇 {𝑓

0
0
0
0
0
{(𝒇°) ̅ }= 0
0
0
0
0
0
0

0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
 1 0 0 0
0 0 1 0
0 -1 0 0
0 0 0 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
1 0 0 0
0 0 -1 0
0 1 0 0
0 0 0 1

0 0 0 0 -221.3676 -14979.78724
0 0 0 0 -14979.79 221.3675504
0 0 0 0 -42056.99 -42056.99204
0 0 0 0 -54027.75 389.6548985
0 0 0 0 389.6549 54027.74997
0 0 0 0 28.523081 28.52308081
0 0 0 0 X -2371.938 = -20360.37691
0 0 0 0 -20360.38 2371.937713
1 0 0 0 -16802737 -16802736.86
0 0 1 0 -55963.72 99797.7553
0 -1 0 0 99797.755 55963.71648
0 0 0 1 -68.22882 -68.2288197

_𝑚+ 〖 [𝑘] 〗 _𝑚 𝑥𝐸𝑥 〖 {𝑢} 〗 _𝑚

-1.427226 0 0 0 0 0 -14979.78724
0 -0.10523 0 0 0 15.784544 221.3675504
0 0 -0.00762 0 -1.143 0 -42056.99204
0 0 0 -2.811043 0 0 389.6548985
0 0 1.143 0 114.3 0 54027.74997
0 -15.78454 0 0 0 1578.4544 X 28.52308081 =
1.427226 0 0 0 0 0 -20360.37691
0 0.1052303 0 0 0 -15.78454 2371.937713
0 0 0.00762 0 1.143 0 -16802736.86
0 0 0 2.8110428 0 0 99797.7553
0 0 1.143 0 228.6 0 55963.71648
0 -15.78454 0 0 0 3156.9088 -68.2288197
 COORDENADAS GLOBALES
[𝐾 ̅ ]= 〖 [𝐴] 〗 ^𝑇
[𝐾][𝐴]
q4 q5 q6 m10 m11 m12 q10 q11 q12
0 0 -15.78454 -0.10523 0 0 0 0 -15.78454
0 0 0 0 -1.427226 0 0 0 0
1.143 0 0 0 0 -0.00762 1.143 0 0
228.6 0 0 0 0 -1.143 114.3 0 0
0 2.8110428 0 0 0 0 0 -2.811043 0
0 0 3156.9088 15.784544 0 0 0 0 1578.4544
0 0 15.784544 0.1052303 0 0 0 0 15.784544
0 0 0 0 1.427226 0 0 0 0
-1.143 0 0 0 0 0.00762 -1.143 0 0
114.3 0 0 0 0 -1.143 228.6 0 0
0 -2.811043 0 0 0 0 0 2.8110428 0
0 0 1578.4544 15.784544 0 0 0 0 3156.9088

{(𝑓°) ̅ }= 〖 [𝐴] 〗 ^𝑇 {𝑓°}

7679.3175 7.6793175 T
-853.0421 -0.853042 T
1996.1344 1.9961344 T
-279440.4 -2.794404 T-M
-410060.7 -4.100607 T-M
-51597.09 = -0.515971 T-M
-7679.317 -7.679317 T
853.04211 0.8530421 T
-1996.134 -1.996134 T
279440.42 2.7944042 T-M
-188779.7 -1.887797 T-M
-204315.5 -2.043155 T-M
 Ix= 2142.0146 cm4 G= 0.3937008 E
Iy= 17145 cm4 A= 428.1678 cm2
Iz= 236768.16 cm4 L= 250 cm

BARRA 1
COORDENADAS LOCALES
MATRIZ DE RIGIDEZ [K]

m13 m14 m15 q13 q14 q15 m10 m11

1.7126712 0 0 0 0 0 -1.712671 0
0 0.1818379 0 0 0 22.729743 0 -0.181838
0 0 0.0131674 0 -1.64592 0 0 0
0 0 0 3.3732513 0 0 0 0
0 0 -1.64592 0 274.32 0 0 0
[K]= 0 22.729743 0 0 0 3788.2906 0 -22.72974
-1.712671 0 0 0 0 0 1.7126712 0
0 -0.181838 0 0 0 -22.72974 0 0.1818379
0 0 -0.013167 0 1.64592 0 0 0
0 0 0 -3.373251 0 0 0 0
0 0 -1.64592 0 137.16 0 0 0
0 22.729743 0 0 0 1894.1453 0 -22.72974

FUERZAS DE FIJACIÓN {f°}

0
0
0
0
0
{f°} = 0
0
0
0
0
0
0

MATRIZ DE ROTACIÓN [A]

1 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0
0 0 0 0 1 0 0 0
[A]= 0 0 0 0 0 1 0 0
0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 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

MATRIZ DE ROTACIÓN [AT] EN EL PLANO

1 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0
0 0 0 0 1 0 0 0
[AT]= 0 0 0 0 0 1 0 0
0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 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

PROCESO DE RETORNO
〖 {𝑢} 〗 _𝑚= 〖 [𝐴] 〗
_𝑚 𝑥 〖 {(𝑢}) ̅ 〗 _𝑚
1 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0
0 0 0 0 1 0 0 0
𝑢_1 0 0 0 0 0 1 0 0
= 0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 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

〖 {𝑓 〗 _𝑒𝑚}𝑚= 〖〖 {𝑓 〗 ^°} 〗 _𝑚+ 〖 [𝑘] 〗 _𝑚 𝑥𝐸𝑥 〖

0 1.7126712 0 0 0 0 0
0 0 0.1818379 0 0 0 22.729743
0 0 0 0.0131674 0 -1.64592 0
0 0 0 0 3.3732513 0 0
0 0 0 -1.64592 0 274.32 0
0 + 0 22.729743 0 0 0 3788.2906
0 -1.712671 0 0 0 0 0
0 0 -0.181838 0 0 0 -22.72974
0 0 0 -0.013167 0 1.64592 0
0 0 0 0 -3.373251 0 0
0 0 0 -1.64592 0 137.16 0
0 0 22.729743 0 0 0 1894.1453
 MATRIZ DE RIGIDEZ [𝐾 ̅ ]= 〖 [𝐴] 〗 ^𝑇
[𝐾][𝐴]
m12 q10 q11 q12 m13 m14 m15
0 0 0 0 1.7126712 0 0
0 0 0 22.729743 0 0.181837947 0
-0.013167 0 -1.64592 0 0 0 0.0131674
0 -3.373251 0 0 0 0 0
1.64592 0 137.16 0 0 0 -1.64592
0 0 0 1894.1453 [𝐾 ̅]= 0 22.7297434 0
0 0 0 0 -1.712671 0 0
0 0 0 -22.72974 0 -0.181837947 0
0.0131674 0 1.64592 0 0 0 -0.013167
0 3.3732513 0 0 0 0 0
1.64592 0 274.32 0 0 0 -1.64592
0 0 0 3788.2906 0 22.7297434 0

FUERZAS DE FIJACIÓN{(𝑓°) ̅ }= 〖 [𝐴] 〗 ^𝑇 {𝑓

0
0
0
0
0
{(𝒇°) ̅ }= 0
0
0
0
0
0
0

0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
 1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 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
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 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 0
0 0 0 0 X -2371.938 = -2371.937713
0 0 0 0 -20360.38 -20360.37691
1 0 0 0 -16802737 -16802736.86
0 1 0 0 -55963.72 -55963.71648
0 0 1 0 99797.755 99797.7553
0 0 0 1 -68.22882 -68.2288197

_𝑚+ 〖 [𝑘] 〗 _𝑚 𝑥𝐸𝑥 〖 {𝑢} 〗 _𝑚

-1.712671 0 0 0 0 0 0
0 -0.181838 0 0 0 22.729743 0
0 0 -0.013167 0 -1.64592 0 0
0 0 0 -3.373251 0 0 0
0 0 1.64592 0 137.16 0 0
0 -22.72974 0 0 0 1894.1453 X 0 =
1.7126712 0 0 0 0 0 -2371.937713
0 0.1818379 0 0 0 -22.72974 -20360.37691
0 0 0.0131674 0 1.64592 0 -16802736.86
0 0 0 3.3732513 0 0 -55963.71648
0 0 1.64592 0 274.32 0 99797.7553
0 -22.72974 0 0 0 3788.2906 -68.2288197
 COORDENADAS GLOBALES
[𝐾 ̅ ]= 〖 [𝐴] 〗 ^𝑇
[𝐾][𝐴]
q13 q14 q15 m10 m11 m12 q10 q11 q12
0 0 0 -1.712671 0 0 0 0 0
0 0 22.729743 0 -0.181838 0 0 0 22.729743
0 -1.64592 0 0 0 -0.013167 0 -1.64592 0
3.373251318 0 0 0 0 0 -3.373251 0 0
0 274.32 0 0 0 1.64592 0 137.16 0
0 0 3788.2906 0 -22.72974 0 0 0 1894.1453
0 0 0 1.7126712 0 0 0 0 0
0 0 -22.72974 0 0.1818379 0 0 0 -22.72974
0 1.64592 0 0 0 0.0131674 0 1.64592 0
-3.373251318 0 0 0 0 0 3.3732513 0 0
0 137.16 0 0 0 1.64592 0 274.32 0
0 0 1894.1453 0 -22.72974 0 0 0 3788.2906

{(𝑓°) ̅ }= 〖 [𝐴] 〗 ^𝑇 {𝑓°}

 4062.34941 4.0623494 T
2151.465578 2.1514656 T
56988.56384 56.988564 T
188779.6804 1.8877968 T-M
-13967700.54 -139.677 T-M
333550.8457 = 3.3355085 T-M
-4062.34941 -4.062349 T
-2151.465578 -2.151466 T
-56988.56384 -56.98856 T
-188779.6804 -1.887797 T-M
-279440.4214 -2.794404 T-M
204315.5487 2.0431555 T-M
 m4 m5 m6 q4 q5 q6 m10
1.7126712 0 0 0 0 0
0 0.18183795 0 0 0 -22.7297434
0 0 0.01316736 0 1.64592 0
0 0 0 3.37325132 0 0
0 0 1.64592 0 274.32 0
0 -22.7297434 0 0 0 3788.29057

m4 m5 m6 q4 q5 q6 m10
2.140839 0 0 0 0 0
0 0.35515224 0 0 0 35.5152241
0 0 0.0257175 0 -2.57175 0
0 0 0 4.21656415 0 0
0 0 -2.57175 0 342.9 0
0 35.5152241 0 0 0 4735.36321

m4 m5 m6 q4 q5 q6 m10
0.10523029 0 0 0 0 -15.784544 -0.10523029
0 1.427226 0 0 0 0 0
0 0 0.00762 1.143 0 0 0
0 0 1.143 228.6 0 0 0
0 0 0 0 2.81104277 0 0
-15.784544 0 0 0 0 3156.90881 15.784544
-0.10523029 0 0 0 0 15.784544 0.10523029
0 -1.427226 0 0 0 0 0
0 0 -0.00762 -1.143 0 0 0
0 0 1.143 114.3 0 0 0
 0 0 0 0 -2.81104277 0 0
-15.784544 0 0 0 0 1578.4544 15.784544

m4 m5 m6 q4 q5 q6 m10

1.7126712
0
0
0
0
0
 m11 m12 q10 q11 q12 m4
m4 3.95874049354
m5 0
m6 0
q4 0
q5 0
q6 -15.784544031
m10 -0.1052302935
m11 0
m12 0
q10 0
q11 0
q12 -15.784544031

m11 m12 q10 q11 q12 m4

m4 3.95874049354
m5 0
m6 0
q4 0
q5 0
q6 -15.784544031
m10 -0.1052302935
m11 0
m12 0
q10 0
q11 0
q12 -15.784544031

m11 m12 q10 q11 q12 m4

0 0 0 0 -15.784544 m4 0.25606145311
-1.427226 0 0 0 0 m5 0.01194984446
0 -0.00762 1.143 0 0 m6 0
0 -1.143 114.3 0 0 q4 0
0 0 0 -2.81104277 0 q5 0
0 0 0 0 1578.4544 q6 0.00024551254
0 0 0 0 15.784544 m10 0.00774496506
1.427226 0 0 0 0 m11 0.01864531176
0 0.00762 -1.143 0 0 m12 0
0 -1.143 228.6 0 0 q10 0
 0 0 0 2.81104277 0 q11 0
0 0 0 0 3156.90881 q12 0.00056957837

m11 m12 q10 q11 q12

m4
m5
m6
q4
q5
q6
0 0 0 0 0 m10
0.18183795 0 0 0 -22.7297434 m11
0 0.01316736 0 1.64592 0 m12
0 0 3.37325132 0 0 q10
0 1.64592 0 274.32 0 q11
-22.7297434 0 0 0 3788.29057 q12
 m5 m6 q4 q5 q6 m10 m11
0 0 0 0 -15.784544031 -0.10523029 0
1.964216188 0 0 0 12.7854806652 0 -1.427226
0 0.04650486 1.143 -0.92583 0 0 0
0 1.143 236.1898155 0 0 0 0
0 -0.92583 0 620.031042765 0 0 0
12.78548067 0 0 0 11680.562583 15.78454403 0
0 0 0 0 15.7845440311 1.817901494 0
-1.427226 0 0 0 0 0 1.609063947
0 -0.00762 -1.143 0 0 0 0
0 1.143 114.3 0 0 0 0
0 0 0 -2.811042765 0 0 0
0 0 0 0 1578.45440311 15.78454403 -22.7297434

m5 m6 q4 q5 q6 m10 m11
0 0 0 0 -15.784544031 -0.10523029 0
1.964216188 0 0 0 12.7854806652 0 -1.427226
0 0.04650486 1.143 -0.92583 0 0 0
0 1.143 236.1898155 0 0 0 0
0 -0.92583 0 620.031042765 0 0 0
12.78548067 0 0 0 11680.562583 15.78454403 0
0 0 0 0 15.7845440311 1.817901494 0
-1.427226 0 0 0 0 0 1.609063947
0 -0.00762 -1.143 0 0 0 0
0 1.143 114.3 0 0 0 0
0 0 0 -2.811042765 0 0 0
0 0 0 0 1578.45440311 15.78454403 -22.7297434

m5 m6 q4 q5 q6 m10 m11
0.011949844 0 0 0 0.00024551254 0.007744965 0.018645312
1.642430394 0 0 0 -0.0025143074 -0.02688715 1.537206959
0 26.58237003 -0.0833894 0.03967540544 0 0 0
0 -0.0833894 0.008780936 -0.0001491874 0 0 0
0 0.039675405 -0.00014919 0.00167232055 0 0 0
-0.00251431 0 0 0 9.32217663E-05 -0.0005524 -0.0026252
-0.02688715 0 0 0 -0.0005524032 0.566457063 -0.04195195
1.537206959 0 0 0 -0.0026252032 -0.04195195 2.092059918
0 0.713015295 0.915962132 -0.0066060336 0 0 0
0 -0.08637748 0.000597473 -0.0001545332 0 0 0
 0 -0.00383226 -0.00544154 5.6197123E-05 0 0 0
0.005690559 0 0 0 -2.7964894E-05 -0.00128155 0.0075811
 m12 q10 q11 q12
0 0 0 -15.784544031 m4
0 0 0 0 m5
-0.00762 1.143 0 0 m6
-1.143 114.3 0 0 q4
0 0 -2.811042765 0 q5
0 0 0 1578.45440311 q6
0 0 0 15.7845440311 m10
0 0 0 -22.729743405 m11
0.02078736 -1.143 1.64592 0 m12
-1.143 231.9732513 0 0 q10
1.64592 0 277.131042765 0 q11
0 0 0 6945.19937369 q12

m12 q10 q11 q12

0 0 0 -15.784544031 m4 0
0 0 0 0 m5 0
-0.00762 1.143 0 0 m6 0
-1.143 114.3 0 0 q4 0
0 0 -2.811042765 0 q5 0
0 0 0 1578.45440311 q6 0
0 0 0 15.7845440311 m10 = -4915.39152
0 0 0 -22.729743405 m11 -9830.78305
0.02078736 -1.143 1.64592 0 m12 -58984.6983
-1.143 231.9732513 0 0 q10 0
1.64592 0 277.131042765 0 q11 0
0 0 0 6945.19937369 q12 0

m12 q10 q11 q12

0 0 0 0.00056957837 m4 0
0 0 0 0.00569055854 m5 0
0.713015295 -0.08637748 -0.0038322552 0 m6 0
0.915962132 0.000597473 -0.0054415404 0 q4 0
-0.00660603 -0.00015453 5.6197123E-05 0 q5 0
0 0 0 -2.7964894E-05 q6 X 0
0 0 0 -0.0012815513 m10 -4915.39152
0 0 0 0.00758109969 m11 -9830.78305
284.8660305 0.948783636 -1.691926181 0 m12 -58984.6983
0.948783636 0.009116991 -0.0056365261 0 q10 0
-1.69192618 -0.00563653 0.01365755736 0 q11 0
0 0 0 0.00017935799 q12 0

m4 -221.36755037
m5 -14979.787242
m6 -42056.992044
q4 -54027.749974
q5 389.65489852
q6 = 28.5230808097
m10 -2371.9377133
m11 -20360.37691
m12 -16802736.861
q10 -55963.716483
q11 99797.7552974
q12 -68.2288197
 0 0
0 0
0 0
0 0
0 0
0 0
- 0 = -4915.39152
0 -9830.78305
0 -58984.6983
0 0
0 0
0 0

-221.36755
-14979.7872
-42056.992
-54027.75
389.654899
= 28.5230808
-2371.93771
-20360.3769
-16802737
-55963.7165
99797.7553
-68.2288197