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MATRIX ANALYSIS OF
ELASTIC STRUCTURES
by
Peter D. Kjeldgaard
MASTER OF SCIENCE
IN
MECHANICAL ENGINEERING
from the
United States Naval Postgraduate School
PREFACE
Procedures are developed for the static analysis of
Matrix
It is assumed
This study is
structures.
ii
to May 1959.
iii
TABLE OF CONTENTS
Section
1.
Title
Page
1
1.1. Introduction
1.2. General Concepts 1.3.
1 4
1
1 2
Specific Problem
Background
4
5
6 8
8
2.1. Definitions
17
19
23
2.5.
35
36 40
40
between Polypeds
4.
47
51 51
59
69
75
82
83
6.
Generalizations
iv
$4
&7
6.3. Adding a Loop of Polypeds to a Chain of Polypeds 6.4. Adding a Chain of Polypeds to a Loop of Polypeds
7.
91
97
97
9&
101 101 102
109
112
113 113 113
Bibliography
Appendix I
11.
12.
13.
Matrix Algebra
Introduction
Notation
Matrix Algebra
Derivation of Some Useful Matrix Equations Derivation of Some Useful Relationships concerning the Translation of Flexure Matrices
114 117
119
14.
15.
CHAPTER 1
Introduction and Statement of the Problem
1.1. Introduction.
This thesis develops a method for describing and dealing with a complex elastic structure composed of elements
It is composed of
that under the forces applied there are only "small" elastic
deformations.
These connection
where either
a)
Specific Problem,
1,3.1. Assumptions.
1.
That
we know the
This is a
large assumption but it in no way affects the results obtained in this thesis. It is just a large problem %n itself and
'*
*3'
3.
solutions
We are essentially
attempting to
find an expression for the flexibility of the whole structure, stated in terms of the flexibility- of individual members
=^t
j
Fi
U
...., n
-'
1,2,
,n)
(1.3.2-1)
in which
= 1, 2,
ients
A.,
equations relating the displacement of the various pertinent points in the structure to the forces imposed on the
At this point we
There are
There is in the literature a wealth of material describing the analysis of a particular type of structure or compli-
cation in structure.
In one of
his papers *^' is presented a systemmatic procedure for solving very large elastic structures.
In this
Both Brock^
'
'
is a problem in itself.
the subject.
Brock
papers
It is tacitly
ibility matrices used in setting up the set of linear equations is most easily handled by computer techniques.
The
6x6
or
6x1
general enough to be
one frame of reference, that is, all points are in the same
coordinate system.
ment allows each member to have its own associated coordinate system.
transformation of coordinates.
Equations taken from the appendix are prefixed with the letter
I.
many
uration is analyzed.
The overall structure is considered to be in equilibrium;
In considering each
CHAPTER 2
Basic Definitions and Discussion of Simple Polypeds
2.
ie.,
In appendix I is a brief
may-
2.1.1. Forces.
Let
{flf f
,f
3
f ,f
5
6}
The components f
..
and f
f,
fr, and
f/-
acting (in the positive sense of the right hand rule) about
the x, y, and
z
axes respectively.
Let
F(J,U)
z
member
2.1 # 2. Displacements.
at point
U.
(2.1.1-1D)
Let
^d 1 ,d 2f d^ d^,d 5 ,d^l
f
d2
&nd d,
x t y, and
,d~
axes respectively.
It is implic-
let
point
C. J,
and
that
We are interested
6x6
=
square matrix
C(J,U) F(J,U)
9
C(J,U)
such that
(2.1.3-1D)
D(U)
The
matrix is a
due
of force at
on member
J.
(2.1.3-2D)
Thus for example,
c c^^^^
^s
^e
positive
U,
while the
V, is held fixed.
C
.
i1
ii
(2.1.4-1)
C(J,U)
(2.1.4-2)
This is
10
The
rix of an ideal member has all zeros in the row, and column,
corresponding to the direction of the idealization, since in
idealizing we neglect axial deformation and the deformation
due to cross shear, etc.
l
C
C
22
c
C
23
C
C
24
C
C
26
^
<
32
33
c
34 44
e
5
36
46
42
43
62
63
64
66
(2.1.4-3)
onal terms
e-
and
e.
as infinitesimals.
The
matrix
left of the
matrix.
matrix
N, where
original positions.
Let us write the
C
C
=
(2.1.4-4)
61
j
(6 is
a scalar infinitesimal)
is of order
z
and
6 - j.
matrix is
-1
1
-1
z
c-
(2.1.4-5)
is nonsingular
Let us consider an
C(I)-1
-f
C(A)-1
12
-f-
C(B)-l]"
(2.1.4-6)
In this example
and
are
villi
C(A)
or
C(B).
re-
o"
i
C(EQ)z"
Sll
?21
a
a
12 -/
22
1
j
hi F12 hi F22
-1
(2.1.4-7)
-1
a
12
i-F
12
C(En)=
+
J*21
F21
z" + a
22
^-F
22
(2.1.4-S)
"1-1
e
^ c
-1
12
C(EQ)-
in which the
c 21
c 22
(2.1.4-2.1)
c.
CT
1
1
-Q" 1!
(c 1
C(EQ)=
-XQ"
in which
X
22
1 4-XQ" Y)
and
combinations of the
ij'
~^0
as 6
^0, we have
in the
limit
C(EQ) =
-1
'22
J
13
(2.1.4-10)
v/e
have
"
3 12 c 22 c 21 :=:e
""
:1
"
f g= ^' I
"
where
is well defined.
Thus we have
and then
i^qq" 1
therefore
--
i * trhi
+ ge + gh
-V
^"^-h -f g
gh.
h
"^0
and thus
Q~^->0.
C(EQ)^^C(j)- 1)
if any row (and column) of a
C(j)
(2.1.4-11)
is zero, then the
C(EQ)
is zero.
This is the
4" 1
in equation 2.1.4-5.
~ LT
L
(2.1.4-12)
where
arranged
V/e
14
However, it
simple idealizations.
2.1.5. Transfer Transformations - B Transformations.
-y
Let
by
=?
-z y
X
-X
(2.1.5-1D)
are the 'coordinates of the point
b.,
(The quantity
by
Let
byy - by
by
(2.1.5-2D)
and
n
uv
I
(2.1.5-3D)
'uv
-b UV
UV
(2.1.5-4)
15
-1
-b
UV
(2.1.5-5)
^uy)"
^U
(2.1.5-6)
(Buy)"
Byjj
(2.1.5-7)
Buy B
UV
I
[(bg -
VW
by
by-
b,
;J
l?uw
Thus
Buy B
- B
(2.1.5-3)
= RT
(2.1.5-9)
transformation pairs.
WU)
(2.1.5-10)
~ *
16
B^J
b'Jv
(2.1.5-lD
= - Byy F(J,V)
F(J,U)
(2.1.6-1D)
are acting on the bar
where both
and
F(J,V)
J.
b!L D(V)
to
does
not deform
(2.1.6-2D)
others. 11 ''
<
2>
C(J,U) F( J,U)
B^j D(V)
(2.2-1D)
in which
C(J,U) F(J,U)
due to force
J
F(J,U)
U, end
member
at
17
D(V)
V, considering
as a rigid member.
We
to the point
U.
beam/
^/ or
Apply a force
ed.
V constrain-
F*(J,U)
- B
uy
F(J,V)
and
D*(U)
C(J,U) F*(J,U)
- C(J,U)
B^
J
F(J,V)
of amount
have had if
D(V)
= BT y D*(U)
Bg v
IS
Nov;
end
U constrained
(2.2.1-2)
B v C(J,U) B uv
(2.2.1-3)
polyped
P..
For
and ext-
Pj_
ernal end
is denoted member
j.
and polyped
Pj
of polyped
ber
P.
of polyped
say
By "fixed" is implied
points.
>
leus
P.
Consider the following sketch for the ensuing devIn a sketch we will indicate only particular
elopment.
F(l,P)+F(l,P)-fF(2,P)+
+FU.PH-
...
F(i,P)
L (K)
polyped
Then
F(I,P) -
-^F(i,P)
(2.3.1-1)
^B pi
UP)
F(i,i)
(2.3.1-2)
Now
D(P)
C(I,P) F(I,P)
^Bpi
F(i,i)
(2.3.1-3)
polyped
D(j)
P.
= C(j,j)F(j,j)+B^D(P)
(2.3.1-4)
D(j)
(2.3.1-6D)
and
Fp * {f(1,1),F(2,2),
,F(j,j),
FU^)}
(2.3.1-7D)
D
and
Then
D,
diag[c(i,i)j
B^j C(I,P) B
pi
(2.3.1-8)
diagkj(i,i)l
C(i t i)
scribes the contribution of each force to the elastic distortion of the member
TP".
The displacement at
22
notation
CJ (X,P)
B*
C(X,P) B
pi
(2.3.2-1D)
C*(X,P).
Using equation
(X,P)j
=fB^
C(X,P) B
pi j
rB^Cd,?))^^
ji
(X P)
'
B Pi c ( x > p
B Pj
* c Ij
<
x>p )
(2.3.2-2)
The
C*
This is as
of elastic bodies.
2.4. Simple Polyped with Multiple Connected End s.
easily be generalized to
point.
and
are
Consider the
following sketch.
we have
As before
D(P)
C(I,P) F(I,P)
D(J)
and
D(K)
pJ)
F(J,J)
+ B^
C(I,F) B
pK
F(K,K)+B^j C(I,P)^B
c(f>)
pi
F(i,i)
24
(2.4.1-3)
= (c(K,K)
"("
Bp K C(I,P) B pK ^ F(K,K)
Bp K C(I,P) B pJ F(J,J)
f b k C(I,P)^B pi F(i,i)
(2.4.1-4)
we have
F(K,K)
F(N)
(2.4.1-5)
C^
(I,P)^F(J,J)
(I,P) F(i,i)
FlHj-fp^
(2.4.1-6)
and
+ Cgj
(I,P))
F(J,J)
(I,P) F(i,i)
C(K,K)
+C*K
(I,P)JF(N)f 5~C*
(2.4.1-7)
N
J
of the members
and
we have
(2.4.1-S)
^Z ^
and
Ip
F(i,D
(2.4.1-9)
+ (% (I,pA
(2. 4. 1-10)
F(N)
+ <LNi
Since the
C
we can solve
F(J,J) =(c(J,J)+C(K,K)J
C(K,K) F(N)
(2.4.1-11)
- C(J,jr1 |c(J
>
1
)
F(N)
(2.4.1-12)
1
)
F(N)
(2.4.1-13)
D(j)
and
D(N)
as
D(P).
C(I,P)(^>B
pi
F(i,i)
+B pN
F(N)
j
(2.4.1-14)
D(j)
- C(j,j) F(j,j)+B5
C(I,P)2.Bp. F(i,i)
F(N)
+ Bp\
C(I,P) B
pN
(2.4.1-15)
C(J,J) fc(J,J)+C(K,K)j
C(K,K) F(N)
C(I,P) B
F(N)
+B
PN
C{I P)
Pi
PN
pN
(2.4.1-16)
The same results would be obtained if we substituted equation
D(N)-
(cU^r^-f
C(K,K)" 1 )
F(i,i)
F(N)
+ b n C(I,P)^B pi
+ bn
C(I,P) B pN F(N)
(2.4.1-17)
matrices, let
Dp-^D(l),
D(2),
D(j),
D(N)1
(2.4.1-1SD)
F
-|f(1,1),F(2,2)
F(j,j),
,F(N)J
(2.4.1-19D)
diag C(j,j)
D
(c(j,j)
+
-1
C-v
J
(I,P)
+
-1
)
C(K .K)" 1
(2.4.1-20)
where as before
C*
(I,P)
B^
C(I,P) B
pi
(2.3.2-1D)
Again in this development we will assume that the external end of member
act at the nucleus of
I
generalize to
2S
P we have
F(I,P)~
pJ F(J,J)-fBp K F(K,K)-}-BJ> L
F(L,LHB pi F(i,i)
(2.4.2-1)
As before we have
D(P)
C(I,P)
Bpj F(J,J)
F
+B pK
F(K,K)
+ B pL
F(L,L)
+^L B Pi
left
^An
(2.4.2-2)
D(J),
and
D(L)
Using
we can determine
and
in terms of the
N.
F(J,J)
+ Cfa
(I,P) F(K,K)
CJr
(I,P) F(L,L)
+5"c*
(I,P) F(i,i)
(2.4.2-3)
and
D(K)
C^
+ Cg
+ C|K
i
(I,P)JF(K,K)
(I,P)
F(L,L)t^"c*
U?)
(I,P) F(i,i)
.
(2.4*2-4)
29
and
D(L)
C*
LJ
(I,P) F(J,J)
+ C*
Lis.
(I,P) F(K,K)
t(c(L,L)H-CL (I,pAf(L,L)+
^C^
(I,P) F(i,i)
(2.4.2-5)
At the point
N
equilibrium of forces
(2.4.2-6)
and substituting in
"
(c(J,J)
4(cj
~^Z?h U6
and
t D(K)~ (C|j
(2.4.2-7)
+ +
(cg
(I,P) - C|
("c(K,K)fC|
(I,P))f(N)4-
5"c*
(I,P) F(i,i)
t
(2.4. 2-g)
and
(I,P)j F( J, J)
(c(L,L)
c*.
(i,p) - C
(i,p)\f(l,l)
f c*k
(i,p) F(N)
+">C* ~
(I,P) F(i,i)
(2.4.2-9)
.Li
J, K,
and
L
,30
we have
-D(L)
(2.4.2-10)
+C|N
(I,P) F(N)
+50* u
D(N)
-
(I,P) F(i,i)
(2.4.2-11)
+(c(K,K)
+ Cj^
(I.P^FlN)
(2.4.2-12)
(I,P) F(N)
+^Cg i
Lift
(I,P) F(i,i)
DM*
4-
^
F(J,J)
Ni
(2.4,2-13)
s C(J,J)- 1 (^C(J
>
F(N)
(2.4.2-14)
F(K,K)
F(N)
(2.4.2-15)
F(L,L)
-
F(N)
Note the similiarity between the above equations and equations 2.4.1-13 and 2. !+ 1-14.
The extension to
N
members connect-
is obvious.
D( j)
as functions
31
N.
is as before
+2f C^
UP)
(I,P) F(i,i)
+C*N (I,P)F(N)
(2.4.2-17)
is linked to
the nucleus.
The force
F(N)
'/cU.J)" 1 *
C(K,K)"
-|-
1 CtL.L)" )"
F(N)
*L
Ni
U,P) FU,i)
+C NN
U,P) F(N)
(2.4.2-1$)
equation is thus
Dp
([
oH
Ji
(I > P)
(2.4.2-19)
]
fp
in which
diag C(j,j)
c
=
'
_ _
...
(c(J,J)" 1 'tC(K,K)"Hc(L,L)~ 1 )
(2.4.2-19.1)
The extension to
onal matrix
Cq
being inverted.
Thus in equation 2.4.2-19 we have described the displace-
even if some
If some
P.
This expression
Consider the
following sketch.
D(P)
= C(I,P) F(I,P)
(2.4.3-1) (2.4.3-2)
P
and
D(P)
= C(J,P) F(J,P)
we have
F(J,P) =
2_B pi
F(i,i)
(2.4.3-3)
C(J,P)"
C(I,P) )F( I p
zL B P<
5~B p ,
F (ii)
or
F(I,P) - (i -f
ClJ.Pl^Cd.P))
F(i,i)
(2.4.3-4)
C(I,P) ^1
-f-
C(J,P)" C(I,P)J
^B pi
Up)-
F(i,i)
(2.4.3-5)
34
D(P) =
(ell,?)" 1 t
ClJ,?)" 1
^JB pi
<-(P)
F(i,i)
(2.4.3-6)
D(P)
in terms only of
members joined at their external ends, we may generThe result is obvious and is the sum of the
alize here.
inverse of the individual flexure matrices of the fixed members, the resulting summation being inverted.
2.5. Simple Polyped with a Force Exerted at a Nucleus.
So far
xve
at a nucleus.
the polyped:
1 the term in the
diag C(j,j)
matrix, ie,
C(r,r)
is a zero matrix.
35
2.
C*(I,P)
matrix are
(2.5-1)
B^C(I,P) B
B
pr
However, since
C*
r-P, and
(I,P)
=1
we have
(2.5-2)
= b
C(I,P)
In this manner
the final equations for each case will contain only pertinent
No further
peds.
2.6. Generalizations of Notation,
We will
Also in the
(2.6-A)
36
bj C(X,P) B
pi
(2.6-B)
FTFT
considered as if
force applied at
P*
P.;
measured at
F(P.,P.)
P^ t
P.P
at
P..
(2.6-D)
The
^F(i,Pj) *
-^ F(P j i}
(2.6-F)
37
Considering only
Vs.i
j
<
x . p y> J
$y
i
C<P
x>V
P i
2 - 6-
'
Hence tag-
be of considerable assisstance.
RS< P x.V =| B
j
f
V
S.
C(P
x'V
p/
R
(2.6-H)
where the
s are
members of polyped
ination.
3S
Let us add a middle index to the flexure matrix notation to denote which of the several parallel members is being referred
to,
le,,
C(P.,J,P.).
The
P.
and
P.
c(P i ,J,P
T1
= C(P
)'\
....
+C(P i ,J,P
(2.6-1)
C(EQ)
=r
(
i
^C(P i ,J,P
)" 1
j
-1
(2.6-J)
j
39
CHAPTER
or they
sketch below.
either as an
end ?2 of polyped P
V/e
&,)
(3.1-1)
)*
P2P
F(P,P)tZB 2 3
^V
F(P
i)
(3.1-2)
Ufy
D(P X
= C(P
,P
F(P ,P
Q
(3.1-4)
= C(P
P;l
)(b
-l-^B p
I)
F(P lf i)
+B
j
F(P ,i) 2
F(P ,i)
3
(3.1-5)
41
D(P
=C( Pl ,P 2
(5"Bp
F(P ,i)
2
+ ^B p
?(?
)\
+b
D(P
(3.1-6)
D(P
3
-C(P 2 ,P )2Bp
3
F(P ,i)
3
+ B^
D(P
(3.1-7)
Nov; to
j)
~ C(P 1
j)
F(P
BT 1 , j) -h
C(P ,P
1
)(^B p
\
&,)
F(P lf i)
^Bpi
F(P
,i)^BF
m
x
F(P ,i)
I
3
D
2
(J)
C(P 0f P
1 )feB p x VITp,)
F(P lt i)
BT
C(P ,P
1
/Bp
F(P
,i)^^B p
(3.1-9)
F(P
i))
and
1 d
+ B
P 1i
FtP ,i,
2
^V
P,P
3' 1,
42
+ BL 3
c(p
i.
>fep 2 i
)
V +%\
1J
F(p
3>
i)
+
In equation
?,j
C(p
p 2. 3
XV
^
s
F(P
3'
i)
(3.1-10)
,
.1-3
np r
1 to il
3
n 11 ^
j)
F(P ,j)-f
(P 1 jli
F(P ,1)
1
,P ,P
111
'V' + I^Ia'VV
J)^*C
P
(P P
)
F(P
3'
i}
(3.1-3.1)
and
(j>-C(P
;j)
F(P 2t
FtP^l)
^'WVV "
2i ^~j~i c?^
J
2' 1,
+ S* d 2J 1
"
V
x
F(P
3'
i}
T*C 2
(P-,,PJ F(P
x 2 -
2 -
i)f^_*C 2
(P
P
2
F(P
3
1)
cm\ i(f ^
^ 3i
(3.1-9.1)
and
D P
3
j)
^*C
(P
F(P
1
i)
3jli
43
^
+
t7^
^
( v
3i
*&,
'3j3i
2' 2 3
i} V F (V 3
;
(3.1-10.1)
D* -^D
,D
,D
,....,D
(3.1-11D)
where each
polyped, ie,
F< ?
= =^~D(1),D(2),
,D(j),
D(n p )}
(3.1-12)
Also
F* F(P lf i),F(P
,i)
2
,F(P
j
,i),....,F(P ,i)l N
(3.1-13D)
,F(P.,i)
J
F(P. np
f
jl
i
(3.1-14)
thus be represented as
D
(C o"fC l"tC 2 +
44
* CN
)F
(3.1-15)
where each
C^
C^
we have
,i)J
diag[c(P
C 0*
,i)j
...
dia s(c(P
N(
i)j
(3.1-16.0)
'
11
(P
0>V
*C
12
(P
0>V
i
)
*c
*
in<
o>V
0'
^l^o'V
>'
;c
22
(p 0' p
2N
(P
^Nl^O'V
"C
N2
(P
^NN^O'V
(3.1-16,1)
o
C
*c
,P ) ( 22 Pl 2 (P
*c *C
p ( 23 Pi) 2 (P
"WW
*
C
3
2
32
1' P 2'.
33
P 1- 2'
3N
(P 1' P 2>
*C
N2
(P 1( P
*G
N3 (Px,P 2 )
*C
NN (P 1' P 2
(3.1-16.2)
45
*c
33
Cn ~
(p
,p
*c
34
(p
,p
...
rC
3
'
3N
2>
3^
"c
43
(p
,p
*c
(p ,p 2
X 4N (P 2 P 3^
*:
\
...
(P
3
,P
*V
2'V
'
"WW
(3.1-16.3)
...
...
c kk (p k ,,p k
r
)
kN^ p k-l p k^
N< p k-l p k)
=
...
*C k
k (P k .!,P k
ck
...
^Vl'V
NN
k-l' k*
(3.1-l6.k)
=
N
...
"c nn (p n _
1 ,p n
(3.1-16.N)
46
Each of the
C,
C^).
Each of the
ment, that is the segment in the R-th row and S-th column,
is a matrix each element of which is a 6 x 6 matrix. The RS-th
columns by
S
Pj
rip
rows,
R
polyped).
P,
2,
...f P N
The sum of
matrix terms is then the flexure matrix for the comSince our aim is to be able to consider very
plex polyped.
Polypeds.
In this case we have several linkages between the poly-
ped
?j
of the member.
Using equation
B
P 2p
3
F(P,P)+lL 25&P2 1 2
3
Cjj.
(3.2-1)
and if we generalize
(I,P)
+2^
cfP,
cl
WV
Bp
tft)
F(p
i'
i}
P^ P 0. P l( B P 2 P 3 F(P 2' P 3
^V
(P 2' i)
(3.2-2)
Using equation 3.1-3 for F(P 2 ,Po)> and using equation 2.6-A,
F(P ,i)
3
43
4-BT
P P 1 3
C(P
P) ^B
V
F(P ,i)
X
+ B
P 1 4*) 2
.F(P ,i)
2
+ ^Bp
F(P 3 ,i) )
(3.2-3)
2T?*"
<^V
'^l' 1 *
'
...^ S'
tf
p F(P N ,i)
(3.2-4D)
Dp
1
+ <> *C 1
imP,
&)
j i
p 0> P
l>
F(m
i}
(3.2-5)
Nov/ to
the members of the polypeds P2 and P~ use equation 2.6-A and simplify using equation 2.6-G,
Dp
2
We have
" C
(P P F(m > i) 0' l
(J)=
-+^5
m=P,
2
j
) On)
m1
+ BP
ld
F(;i)
1ii1
4-*)
(3.2-6)
49
and
(j)=
,jJ-f)5*C 3 m [Vq,?^
F(m,i)
B?
1d
[Zc(Pi,J.P 2 )-B"^>ml
F(ra > i}
+]>
X*C 3 j m i *H|^
p 2 p 3>
F (m f l)
(3.2-7)
to
ff
where
h-c
(3.2-d)
we enumerate the
C,
C^,
and
Oo
t0
V
In the case of multiple members
members linking polypeds or not, may be represented by equations 3*1-15 and 3.1-16.
50
CHAPTER 4
in which there is only one set of linkages from any one end
or
along another "path" of polyped nuclei which does not include polyped nucleus P a .
we have
H?^)
=B p
p 12
F(P lt P
--Bp
F( P
13
+_Bp 1
UK)
(4.1-1)
P (P lf i)
Similiarly at point V
we have
2 3
Ufa)
(4.1-2)
and at point P
we have
F(P ,P )-^F(P ,P )=
1
3
4
^B p
F(P ,i)
3
(4.1-3)
D(P 1
= C(P
,P
F(P Q ,P
1)
(4.1-4)
C(P ,P
)(^B p
X(
-$) i
F(P lf i)+^Bp
ton ft)
,
F(P 2 ,i)
+ b p
or expressed as a summation
D(P
=
F(P ,i)J 3
(4.1-5)
C(P ,P
)-(y^B p
F(m,i)
(4.1-6)
of polypeds
PtPo
-C(P p P 2
F(P lf P
)+BT
2
iP2
D( Pl
(4.1-6)
Nov/
C(P ,P
1
Bp
(
F(B ,P
2
3
)+^B p
F(P ,i)
2
-f b p
D(P n
(4.1-6.1)
D(P-j_).
D^)
we have
D(P
3
=fo(P 2 ,P 3 )+^
B +J Kh)
p 2 3
C(P 1( P
2)
Bp
2
pjF(P 2 ,P
P P 2
P i 2
^.i'+^jP,
D P 1>
<
(4.1-7)
D(P
directly from
D(P 1 ),
C(P 1 ,P
)^Bp
i)
F(P ,i)
3
+BS r
D(P,) p r l 3
53
(4.1-3)
+C(P 2 ,P
)7B p
tih) 3
+-8^
- B
3
C(P ,P
1
Bp
A(P 2i P 3
)Xb p
ecu) 2 i
C( Pl ,P
F(P ,i)
2 3
C( Pi ,P 2
F(P ,i)
2
(4.1-9)
,P
3
we have
C,P
P
l' 3
*W
(&?Y
-
^3l
2
)
F(P
3'
i}
[^C) ?
0{? lt ?
^BPi
F(P ,i)
2
(4.1-10)
c(p ,p 1
-fc(P lf P
2 p
c(p ,p 2
D(P
3
)=
C(P lf P
((SC)p^
C( Pl ,P ) 2 p
^B
c(p 2> p
3
F(P ,i)
2
f c(P ir P 3
*^> B
p
(Kc) p yi(c(p lf p 2
p3
)J-
&
F(? ;)
3
+ C(P
54
,P|)
'V^Bp
F(m,i)
(4.1-11)
G(P ,P 2 ) p 1
-1
-1
1 -H c(p 1i p )- -^c(p 1i p 2 p 3
)
-1
f
i
c(p ,p )j-i
2 3
"B
^(P-.i)
ft.
+B
p p
c{
1 3
)> Bp 1
<-(*)
F(m,i)
-
m*n
(4.1-11.1)
fl - Bp
2
p|&)p^C(P 1 ,P 2
..B
p^g
iF (P 2 ,i)
(4.1-12)
F(P lf P
8)
Bp^CsOpV 1 4 2 ? 3
'
B? p
C(P 1( P
3 2
Bp^^
p p2 3
c(p
p i' 2'p
b
3
p p
3
ZV
F(P ,1J a
(4.1-12.1)
55
)=
(dC) p
C(P 1> P
3 p2
gB
2
F(P
3>
i)
1
"
(
^P,"
C(P
l'
|]P 2 i * 2 .*>
(4.1-13)
Substituting equation 4.1-13 into equation 4.1-6 and simplifying using equation 14.2-1 we have
d(p )=
2
o(P ,P )(wj p 1 2
Wc(P 1 ,P 3
F(? ,i)
2
+o(P3,P
p2
2 )j.
*>Bp
Z)
+ ^I'V^'p^"
C(P
l'
P
3
P^> 3 i
F{P
i}
+
14.2-2.
D(P
P 1P 2
c(p
o'
i'S^p 1 i
^^
F(m,i)
(4.1-14)
)= 2
c(p ,p )-i(c(p ,p ) 1 3 p 1 2
+c(p 3) p 2 ))-1
c(p ,p ) 1 2 -1
-1
*2V
^c(p 1 ,p 3
)
F(p ,i)+
2
-1
c(p ,p 2 3
-1 -1
56
PiP2
^Vi'z^ii F(m4)
*v=A
(4.1-14.1)
Then we have
D
(j)
^jl+SVX
5^T*C a
<-6*)
**=fl
(P
,Pj F(m,i)
(4.1-15)
and
Dp (j)
2
sr
m [Vq,?^) F(m,i)
4-B^c(P 1 ,P 2 )((2c) p
(c(Pi,P
)p+c(P
,P
3
2 j)
X
+ B p o0
(
P2i
F(P 2 i}
* vv( f
(
c)
p)*
lc(
vvp|5
,p
(4.1-16)
and
Dp- (J)
+ B?
W,^
^B P
d%)
.
+S ^%
^VV
)
F(m,i)
(4.1-17)
57
=(
-f^-f
and
C
(4.1-1$)
in which Cq
3. 1-16,1
The
matrices.
G 22 G
G 23
G
33
32
(4.1-19)
partition segment is
2 2
J
~ BP
C{P
2J
+C(P
2
3
,p2, Bp 1
(4.1-19.22)
*zj m
bp
2
^i> ? 2)(?y
c^p
) 3 p
bp
(4.1-19.23)
G
3
j 2i
= Bp
3J
C(Pl,P3)
^
(
2^P
B
3
P i
3
(4.1-19.32)
%h*
%3
C(P
P l' 3
(rC)
P3)'
t C(P 2 p 3
B P3i
(4.1-19.33)
53
G matrix is symmetric;
however, let us defer doing this until we have the general case and do it once for all cases.
In the general case the
character of the
RS
The
yielded a set of linear equations to describe all the external displacements as functions of the various forces applied
to the structure.
3>
and
'=
We haVe
F(P lf P n )
F(P .Pi)
Bpp
1 n
+ Bp
1 2
p F(P lf P 2
)+^Bp
1
ice,)
F(P lf l)
(4.2-1)
59
V/'^'V +ZV
3 n
^'Z' 1
'
(4.2-2)
F < P 2. P
'
=B P
F(P
3'
n^
P i
3
F(P
3
'
i)
(4.2-3)
F(P
l>
n+
F(P
3>
)=
2V ^
D(P 1
F(ra,i)
(4.2-5)
in two way,
P P. P
and secondly
the forces in the linking members as functions of the external forces only.
As in the previous section we have
D(P
- C(P ,P 2 1
F(P ,P
1
Bg
D(P
X)
(4.2-6)
D(P
-(c(P 2 ,P
)+B^
C(P lf P 2 ) Bp
2p
y(P 2 ,P 3
BS P
2 3
fy
13
(4.2-7)
60
d(p
4-c(P lf P 2 P
)
V(p 2 ,p 3
C(P 1 ,P
2)p
+ b
X 3
D(P
1)
(4.2-7.1)
we have
D(P
(c(P ,P
3
-f-C(P 2 ,P
+C(P 1 ,P 2 ) p jF(P ,P n ) 3 )p n 3
P
+ (c(P 2) P 3 )pf
t
C(P lf P
2 p
)
C(p
l>
2>pJ^%
F P 3i)
^
rB
n
L(fy
ln
D(
Pl )
(4.2-3)
from polyped
P-
substitut-
)Sj ?
F(P n> i)
4B^
p 1 n
D(P
(4.2-9)
we have
61
C(P 2 ,P )p 3
C(P ,P
).
V
or
F(
BP
^)
(4.2-10)
n>
f^P^W^i^V
((^c)
1'
"
(^'p^VVp^'^Vp^p^'V
p
1'
^ V
c(
2 p
F(P ,i,
2
(4.2-10.1)
then
D(p
)^
(c(p 1( p
2 Pi
c(P 2I p
Pn
-Hc(P
P 3> n
)j^c)V.1
,P
^V-l^i^V
(<C, P^"
1
+C(P
B
C(P P , l' 2 P a (
1
-'-
) P 1<V>
.
f ClPi.PjjJUSOpV
C(P 1( P 2 )p
n uA) n
^B p
F(P 2 ,i)
c(p
o> i>
F(m,i)
(4.2-11)
62
Then
F(P 2> P
3
)
Sp^lCC IpV
B^ B*^
+
0(P ,P
Bp^.
"<LB p
BP P
F(P
i)
[i
- B
p p
((SC)pY 1 Bp p
CtP
n 3(
P l' 2 ) P
+C(P 2' P 3
P pn 3
pJ
P P
Bp^FtPj.i)
i(f$)
n 3
- B
P P nV
3
(ftc)
\_1bT
C(P ,P
3
1' 2 P n
) ;
PnP
F(P ,P
2
3
)
B
3
F(P ,i)
2
(4.2-12)
c(h)
(feC)p^-
CtP^Pjp^Bp^
3I5p1
F(P ,i)
+
ZBp
|
^(P^i)
F(P
v i)
((lC)
A^ClP
IB
(4.2-12.1)
(c(P 1 ,P 2 p
)
C(P 2 ,P )yfC) p 3
yi
+
C(P 1 ,P n p
)
2 cW)
B P i F(P n^
3
c(p
p 2^P
C(P 2 ,P )). 3
63
(t&)pWc(P lf P n
p
3
+C(P n .P 3 ))Bp
/
<
F(P ,i)
3
C(P
(
P P n)pi^nV)(&) Py ic(P l P
1
)
2H$/
(4.2-13)
P 2' i)
C(P Q ,P
*>
^B pi
F(m,i)
)=
(dOpV 1
*7
C(p
P i. n'p 2
CB
)
x HT^)
P i 2
^n' 1
'
+ [l - ((lC) p
y
^
i (c(P P 3I 2
+ C(P 1 ,P 2 tB p
B
P i 2
P(P ,i)
3
F < P 2' l}
6(?2
(4.2-14)
-1
0(P ,P )p 1 n
^Bp 2l
+
F(P ,i) n
cp
l.
2 '(
(Sc,
p a 3
P^
.bp1
c lp
f(p
,i)+
c(p 1 ,p 2 )((fc)pV;
)Up
irtP 2' 1
H'
64
+ c(p
,p
Bp
F(m,i)
(4.2-15)
FlPpjJt/^X
ft.
m,
(P 0' P
l)
F(m i)
'
(4.2-16)
Dp (j)
rC(P 2l j)
F(P 2 J)+>T*C 2 m
S-^3 ji
(Pq^)
F(m,i)
P 2J
P ) l' 2
(^C )pjYC(P l jP n
P
J
+
F(P 2'^
C(p
n>Vp 2
l
^^fc^i
<J#fc
l
2
+ B? 2J
2<^C
)
^Y
C{P jP
n P2
C(P n P 3
PJ^B P 2 i J ^)
F p
(
'
v i}
,JHN 5^C 3
>*,
(P
,P
F(m,i)
^
*
C(P
l.
P 2)pl B
P,i
+^3 j[(c
<
1'Vp3+
+
c<p
p 2 . 3 )(<*c>^"1
( C(P l p n)p
c<p
n. P 3>P,fep,i F ( p 3.i)
+ B^ j[(c
x, 2)
p^
"1
p 2 , 3 ))((&
^-J
2 " lg)
and
F(P
n'
i}
.j)-f'
F(m i}
'
q%}
tB P jE (P l' P n n
(lG)
Pn
+C(P 2 ,P
F(P
i)
(c(p
1 ,p 2 p
)
c(p 2 ,p
) 3 p i-
c(p ,p n )) 3
((c) p
V1
C(P 1 ,P n
^Bpi
F(P n ,i)
(4.2-19)
66
+ (^-f
(4.2-20)
in which Cq
3
and
C-,
.1-16. 1
The
matrices.
G G ^ G G
22
G
G
G
23
2n
32 n2
33
G 3n
n3
nn
G
(4.2-21)
partition segment is
1 C(P
P l' n ) P
= i
C(F
l'
(C) 2) ^
P^
+ + C(P n' P 3 P 2
)
C(P.
>h}\l
(4.2-21.22)
G2
VVpJ B
(4.2-21.23)
P 2i
Ojfca
BP
2
C(P lf P 2 )((JC) P
Y1
C(P lf P n )p
2
Bp^
(4.2-21. 2n)
-"
3j2i
3 j(
C(P
l'
n P
+C(P n' P
3
3!)(
SC) p)*1
(4.2-21.32)
C < P 1 P 2P
3
BP
3
67
Vi
G
3
c(p n' p
BP
(4.2-21.33)
jni
AC(P
1' P 2)P
+
3
^W^P^
Bp^
(4-2.21.3n)
1 C P <
C(Pl.P n )p
3
Gn 2. 4
j
BP
3 J
C^l.Fn'f^'pV
\
P l. 2 )p
% n1
(4.2-21. n2)
C(P 2# P
3 p
\B p
(4.2-21. n3)
C(P lf P
(4.2-21.nn)
Let us
However, before
G
matrix
and
Let us
CU
Therefore
must be symmetric.
Write the
- b G B q
B
=
(4.3-D
ol ,
B
in which
diag[B
q2 ,
B^,
(4.3-l.D
matrix of
rip
terms.
i
transformation from the particular external end of the member to the arbitrary point
o.
matrix
will have.
segment
G -.
j3
C(P
B B P P o oP l' n) n
(' P
P
oP
B P o{ C(P 1 P 2^P n n \
+ C(P 2 P 3
nj
B P o B o3. n -'i
(4.3-2)
69
-c(P
,P
o+
c(P ,P
2
3
oh
..^c(P
j
)
_1
,P
j
+c(P lf P
0+ c(P nf P 3
+...
+ c(p.
,p.)
(4.3-3.D
In the term
(C).
matrices
o.
As indicated in
the note following equation 15.4-6 the first subscript is needed to indicate the order of subscripts in the individual
C
4. 3 -3D
and
n 3
T
on.-
C(P..P
C(P,P,)
(4.3-4)
2* 3 o
o3^
matrix.
70
G G
-
22
G *23
G u
G, G
2n
G G'
32
33
3n
n2
n3
nn
(4.3-5)
22
C(P lf P
((^O^^P^P^oi
C(?
,P ) t 3/0 n ,. 3
,
c(p .^3 ,p
3
2)
4.3-5.22)
G*~ 23
C(P-.P
1*
/(CcA-VctP-.P 1* no ov o)
)
IC(P
Vo)
4.3-5.23)
G,
2n=
C(
P
2
o(
(1C)
lc(P
l'Vo
X
4.3-5. 2n)
G-
32
=(c(P 1 ,P n )
+C(P n ,P 3
)[(C)
C( Pl P
2>o
4.3-5.32)
G.
33
-'(c(p ,p 1 2
o+
c(p 2> p
3 o
y(sc) yi(c(p
o
no
4.3-5.33)
n' 3 o/
G'
3n
I (c(Pl.P 2 )o
+C
'
P 2. P
3o)(^ C ^'
C(p
l P n>o
If
4.3-5.3n)
1 C(P
G '2 =
CfWoC^"
P l' 2o
4.3-5.n2)
G, n3 ' c(p 1 ,p n )
((rc)^-i(c(p 1> p
2)
+c(p 2
3>o
4.3-5.n3)
71
(4.3-5.nn)
Gf
matrix.
We
terras first.
Using equation
RS
' G
T
'SR
(f0r R
^ S)
Note that all the
B
.
A(A-/-B)
If we consider
Gf
RT?
that the afcove forms are equivalent, and thus the diagonal terms are also their own transpose.
Gf
matrix is symmetric.
If
G'
is also symmetrical.
or the
G'
matrix is more
GT
or
mat-
1.
the flexure matrices of all the links which make up the loop
of polypeds.
3. The last portion of the term is a sum of all the
rary point o.
5.
G term, and
then the sum of the flexure matrices in the other path goes
in the opposite position.
Gf
matrix
A tedious analysis
loop of polypeds with a complex polyped having the appropriate eouivalent flexure matrix.
74
CHAPTER
Earlier Polyped,
under consideration.
consider in the next chapter how to connect this loop of polypeds to the chain of polypeds which we neglect here.
The points P
and P
same point.
+ C 1i-....-VC N
,
(5.1-1)
where
and
D'=fD p
^ *1
Dp *2
...
,D P
'X
from (3.1-11D)
from (3.1-13D)
*n3
...
f
F'^^F(P 1 ,i),
F(P ,ijl N
submatrices is in turn a
The
C.
Then the
becomes
(l)(r),
D(n
)l
-^D(r), B l
?
(5.1-2)
^(P^r),
1
F(P ,1)
]L
>
..., F(P
,n
)/
,i)|
(5.1-3)
and F
in equation 5.1-1
(5.1-4)
...
F(P ,i)^
(5.1-5)
6x6
the and F
Tt
matrices at the top and left side, coresponding to r-th partition we have made in the column matrices D"
.
In
portion of
C
C^ Bp
we have
J0
CKPq^)
(5.1-6.1)
Qi
ctp^)
(5.1-6.2)
Pi1
In C p
and subsequent
C,
form
D"
-=
S Fw
(5.1-7)
where
S S
00
01
'02
5
'ON 'IN
10
ll
12
3*0
and each of the
'Nl
N2
NN
(5.1-7.D
C KS
S RS
matrices.
If we had forseen
77
displacement in polyped
5.1-3
ado.
P.,
D(r) = S 00 Fr
+S 01 F
Pi+
F 02 p
-M^
H
(5-1-8.0)
\
...
= s 10 Fr + S llF P + S 12 FP 2
1
+--^ SlHFP
'
(5.1-*.l)
P.,
' 3 jOF r
11 P
+
1
F
J2
P/
+S jN F P
<5.1-S.J)
H0 F r
+S Hl FP +3 K2 P P
1
+-2
+S HH F P
(5.1-8.N)
In order to
Dp (1) r
(5.1-9)
or since the above quantifies represent the only members in perticular partition terms of equation 5.1-4 we have
D(r)
-
Dp
(5.1-9.D
7*
-V
(5.1-10)
or
F, r
- - Fp r
(5.1-10.1)
\=
Dp_
F ll P 1 t Sl2Fp 2 t
"
(5.1-11.0)
(5 ' 1 - 11 - 1)
" Slo)
%
Fp
= SjjFp f
S j2 F P
+ ....f(S jN
- S
j0
(5.1-ll.j)
WPj* S N2 F P 2+
+(%N
"
W%
F
p^
(5.1-ll.N)
5. 1-11 .N
Q1
N1
Fp^f
(S
Q2
- S
N2
...
"t"\ (S 0N
' S 00^
(S NN ~ S N0 }
FP
(5.1-12)
N
H "
(5.1-13D)
H""
1 we have
- IT (S
Q1
- S
N1
)F
-+H1
(S
Q2
- S
N2
)F
+...
2
- F
(5.1-H)
Premultiplying equation
5
.
1-14 by
(S.m- Sj^)
and
we will eliminate F p
from each
^-(sii+ISin
S
(
Sn)
H"
(s
01 -
%! Vpi+
2
12
t(S lN
(S
S F 02 " N27 P
f *
+(sii+ (Sm
- S
H"
(S 01 - 3 Ni
))
Fp -+...+(o)Pp
H
(5.1-15.1)
P^
S + ( jl
(S
jN -
V
)
H_1 (S
a F 01 - Hl)) P
fs j2 +(S. N - Sjl
H- 1 (3
02
- S
II2
))F
+ ...
+ '--+('
)
ji+ (S jN
FP
(5.1-15. j)
=
D
=.
S* F Dp
(5.1-16)
where
-Td p
Dp
(5.1-16.1)
'.
and
P- {F(P
...
FtP^.OJ
(5.1-16.2)
and
Sji-Sji+tSjjiS
j]L
IT 1 (S
Qi
S^)
(5.1-17)
Note that
Qi
becomes
H
-
s NN - c(p
,p 1
5.1-1*
The solution to
Si.
CHAPTER 6
Generalizations
6. In the preceding chapters we have developed methods to
of polypeds.
We have what we
loop of polypeds.
That is to
say we develop larger and larger entities, starting with members; we combine members into simple polypeds, then we com-
equivalent polypeds.
We have been interested in the B -transformation which
that point.
derived is unaltered.
'
g2
- ClPo^i)
F(P ,P 1
b p
D(P
(6.1-1)
Dp (J>
1
"
{? l'i
F(P l'J
+>Z.*C l.m J
(F 0' P
F(m i)
>
ft^
+ Bp
D(P
(6.1-2)
-f-B^DtP^
Thus
vie
point P
trans-
Let us now consider a chain of polypeds N-members long. Let us assume it is fixed; however, if it is not we can treat
it as in section 6.1
.
-C(P N ,P lt
F(P ,P lt N
+B
D(P
(6.2-1)
terra
of the form
+ B P NP Pjt
D(P
N
**
term in
feach
terras
Dp
(i)
Dp
k*
(j)
Xyn)
F m 1
.
+'
?M
1-
^--P/V
**ft
Pm
^^>,
*^**)
j
(P
,P lf
)F(m,i)+.-.^ C k
:
(P
**gj*
M-1 ,P M )F(m,i)
(6.2-2. k)
We have here the appropriate terms for the k -th row of each
!
of the C^
matrices.
N-1 N
eft/)
1 B ?N i
F(P
i}
+ B P N P lf F^N^ltJ
(6.2-3)
F(P
N-1>V-
I BPNi
F(P
N^
+^>P Nm
rt
F(ra
(6.2-3.1)
35
Dp <j)
fiv
Ph
<
+ ?'l\
<
lBl
P 0. p X>F(.i)+5go
(Po.P^Ffm.i)
+^-*k,m
&K
l. p 2 )F(.i)+?S.*C k
,
m (P 1( P 2 )F(m,i)
J l
J *
$**
<
+
:
""+
X Vm
KD
k m (p N-1> p n' f
(6.2-4.k)
Notice that here also we have the appropriate terms for the
appropriate rows of the various C^
matrices.
form
D
(C
-+ C
+ ...i-C N-tCN+1
-f...
+ CN^ M
(6.2-5)
in which D
and
Each of the
C,
is an
(N"f~M)
partitioned matrix.
Cq
on the
through
k-1
of zero matrices.
forces in the polypeds farther from the real fixed point than
the linkage from polyped
k-1
to polyped
k-1
by causing distortions of
to
k.
k-1
caused by these forces farther away from the fixed point than
the
k-1
polyped.
N i*M
members long.
loop by
that
P.,)
becomes
- C(P ,P lt N
)-^B
Hm.i)
+B J
D(P)
(6.3-D
Similiarly we would have an added term in the displacement
of each nucleus in the loop of polypeds of the form
-f-Bp p
D(P)
of the
(J)
=C(P kt
7*.
^%
**
PM
(P
,P
Jmi
F(m,i)
^y^ iH h^ mm ^ ZZ ^h
{
F{m,i)
<
(6.3-2. k)
V7e
have here the appropriate terms for the k'-th row of matrices and the G matrix. k Also we find that the forces in the M-polypeds affect
C.
the various
F(P ,P lf N
(6.3-3)
we can substitute
Pm
F(P
N'
N-l>V=]>)pN i
(ty
i)+
>^%m
<&)
F{m
'
i}
(6.3-4)
form
D
(C
C^-f C 2 -f...-+C N
1- C Ni
1 +G
(6.3-5)
in which
and
Each of the
C^
is an
The
through
The
C
C
N N
C^
This is the
N
tion augmented by
segments. The
G
is now bordered by
segments.
various
are augmented below and to the right with M rows and columns
of matrix elements.
k-1
terms in a row
or column are zero matrices, the other elements have the same
C^
Cjt^
matrix is the
elements.
6.4 Adding a Chain of Polypeds to a Loop of Polypeds.
Let us
Pj )=^^C
hL
(P^P.jFCn.iJ^BVj
<^
F(n,i)
(6.4-D
V/hen
nucleus
Thus
at the nucleus
91
Pm
F(
v^j
F(p
j +i
)=
p i J
F(p ,i)H"2^ B
j
Pji
F(m,i)
(6.4-2)
3-
D(Pj)
B lj ^Z r/N)
Jj Bom,
*<*>
6 ^-3)
\,
)m
ClP
k'^'
F(ra ' i)
F(m,i)+B?
D(Pj)
(6.4-4)
S!
k , mi
(P
,P
1 ,)
F(m,i)+
Pm
"+"/^C k
ftp/W>
j i
(P
1 ,P 2 t) F(m,i)-f- ....
t^
ib
---?,
<C
kt m (P M -l^:)F(m,i)
rrc kln
-to
j
(P
,Pi) F(n,i)
oil
GJ n
.
F(n,i) t
5b* _^ ^
GJj B
i
F(m,i)
(6.4-5. k)
Dp
k
U) s
+ /2J* c k
vp d*)
J
m (Po.Pi) F(n,i)
i
fr JVl
c
k1
,P(B l '+
o ki
F(n ' i}
i
l B ok.
G 4j B om F 4
Ki)
(6.4-6.k)
and 6.4-6.k
??+ C^-f
2 -/--..-f-C M )
F
(6.4-7)
in which
and
The
Cq matrix
The
Cn
through
C-^
matrices are
elements.
The
CT
and
matrix segments.
kn
j
B.
=Bj
Jn
G
Jj
(6.4-3)
in which, as before, o
B
=
diag[B
ol ,
...
Qk ,
qN ,
ol ,,
...
qMJ
(6.4-a.i)
And for
C^
we have
\n (P 0' P
*i*
"!
l'
\j (P 0> P l>
T Jn
(P n ,P n ) 1
WV
n
94
and k
(6.4-9)
from
C
1
P
,P
to
l^
N,
GJ
and
kn^
are
Gjj
and
*Cj J (P ,F 1
M x H
matrices.
The
is
attached*
Both the
5"
and
T,
and
C,
or
C,
matrix.
or
C,
and loop of polypeds. Knowing these simple elements we can immediately write the appropriate terms of this combined
loop-chain.
VJe
96
CHAPTER 7
Overview of the Algebraic Solution
7. This
aid in solution.
member.
If certain components of a
constraint force must vanish, then the corresponding components of the appropriate
F(P ,j)
#
must be zero.
sura
and
are known.
of solution.
that is, if a force component is known, then the correspondIt is ing displacement component is unknown, and vice versa.
point.
resulting set of the set of equations we will find that the categories. equations will belong to one of the above four
9S
by matrix multiplication.
ensional
and
mutivity.
and
quantities.
In the third and fourth categories we can separate the
using a mat-
rix
we have
(7.2-1) (7.2-2)
" NT S N
(\>\
(>
I
>vv
,
\]
(7.2-2.1)
1 F
s =
ul
,F
u2
"r
kl
F] K
sJ
(7.2-2.2)
rammer to choose which is most suitable or is already available in the cumjbuter subroutine library.
100
CHAPTER g
Alternate Point of View- Multianchor Structure
. In some structures it may be advantageous to consider a
will be
will be designated as
be designated as
Q.
joins
to another polyped) or is
P..
and
Q.
and
0,
points ser-
It will be convenient to
Pj
to the point
Qj.
(Recall
(g.1-1)
101
?^* //
P.
to the point
Q..
(S.l-2)
P-
C(i,P
F(i,P
B^
D(i)
K(i t P
(3.2-1)
in which
C(i,P,
and
The matrices
and
are
while
the end
B
is considered fixed.
T
p ir
.
D(i)
l
102
K(i,P
P1
with
i-
i 2 3'
Q k ,Q l' 2'
Q
j
- C(i,P )" 1 1
D(P
^
- (b[
D(i)-f K(i,P
1
1 ))
(3.2-2)
As a convenience in the algebraic manipulation to follow
let
D'(i) -
BT
D(i) -f K(i,P ) 1
(3.2-3D)
(the designation of the polyped may be added as a subscript if needed for clarity).
F(i,P
C(i,P
)"* 1
^D(P 1
P^
-D(iA
(3.2-4)
to be in equilibrium, the
P.,
must be zero.
P.,
If there
we designate
Then
y
r,
F(i,P 1
-f
(P
1)
(3.2-5)
where the
^
P
/
the polyped
P 1#
equation $.2-5
Z.c(i,p )'h(?
^TcU^.r^'U)
-v
(3.2-6)
- F
(P
x)
(3.2-7)
Nov;
= Q.
J
D(P
" C(Q
^
)
F(Q ,P )-f
j
D*,
(Q
(3.2-3)
- Df
(Qj)
+ ^CU.PjT1
"(^Cli^)"1
D'(i) - F p (P x )
(3.2-9)
Now let us split the summation over all members of the polyped
P,
Let
denote the summation over the fixed members of
the polyped
P^
104
and
^>
'
P..
polyped
such that
Q.
*Q
Recall that
the points
F(Q ,P 1 )r j
LP,
(i)
- F
(P
"VV
Note that
(6.2-10)
T(P
and is independent of
T(P 1
)= iZxJd.P,)"
^JJd.P,)
D'(i)
(6.2-11D)
^C(i
P 1 )/Bip
D(i)+ K(i,P 1
( f 2-ll.l)
)J
[Q.)
values of
(Q
li
Q..
j
)-[^C(i
j
P (
)-l)" 1
C(Q.,P
(S.2-12D)
in which
C(Q ,P
if
i^^Qj
that is
105
the structure.
That is,
p (Q.)
Q.
The definition of a
t(p
.
D,
Pl
(Q
j
07
-h^b p
r
(k)
D(k)
^C(i,P
)- 1
"1-1
" F p
(P
)
(3.2-10.1)
1'V"
Q 1Pl
FlQ
J'
^ 2 - 13)
P^Q..
Now if we sub-
i'V
vi c(Qj,Pir i
(k)
t(?i)
"
w
F
p
(P
f~b p
k-Q
D(k)
/^C(i,P 1 )- 1
ft
(3.2-14)
106
of
polyped
?i
such that
P,
'
..
ion 3.2-3D*
F(P 1>Qj
- -
Bq^Q^)- 1 ^)
01
+5*bp (k) ^5 i
(
B^
Pi
D(Q.)
- K(Q,,P,)
B? p kp
D(k)
i 1
tj'bp^k) Kik.P^
[^Cd^)"^"
Pi
(P
1J
(8.2-U.l)
Let us group
Y
*
^(Qj.Pi)-
T(p l )
MQj.Pil)
'L-
c(i,p i
r
J
c(k ' p i
K(k p i
"S c(i
A
(
pi) "j
Fp
i
(?i)
(8.2-15.0)
C(Q Ji P ) ,k) = B 1 Q Pi Pi Qj
-1
b n (k) B?
kP-
k^Q J
or substituting for
b p (k) *1
107
vv
k)
Vi
for
clci
J
,Pirl
B?
(i,Pir
" c(k,Pi) B p
k^Q.
(d.2-15.k)
B
T
Yi
B
Vi
c(Q ,Pi, 3
"tft
cu
7-1
'
Pi,
"T
vi
(g.2-15.Qj)
Then we have
- F(P
1 ,Q j
)=
0) p (Q jf 1
+y
QT
A
p (Q x
k) D(k)
k=$,
(S.2-16)
Q.
such that
P,"
--
"
..
It will be
?-.*-$+ Q
.
FfP^Q.)
~0
since there is no
member
A
P_
(QyX)
for
x-0,
?
Q lt Q 2
Qj
Qj
g. 2-17D
when
~4h
Q..
Qj
and
There is
i#
(Q Jf 0)l-j>Ap (Q Jf k) D(k)
(*2-id)
&3 Interconnected Polypeds,
Now that we have the force on one member at one junction point
Q.
V/e
must
F(m,Qj tFlO.QJ
(8.3-D
where
F(0,Q.)
m"P 1
2,
...., P M
- F(O f Qj)
+y>
'to-p,
(3.3-2)
m
A
(Q..k)
~0
, '
unless for
m =P M m
we have
,
,
Ej.
^j
(k wv - Q- ,....,Q
^f*-^j ).
T
109
-F(0, Qj )f
^
D(k)
^VQj.oJ+J I^Qj.k)
(.3-3)
There are
j~l,
2,
...., J
such equations.
j0
- *m
(Q j>>
(8.3-4D)
s jk =
JW
(Qjk)
(.3-5D)
=
J
(.3-6)
1, 2,
. .
Note that
P
S.,==0
and
P
such that
-1
m
Q.
j
Q.
For if
PJ-^Qt, k m
then
bp
(Q,
)-0
m
Ap (Q,,Q.) r m J *
(.3-7.1-)
Also if
P V?
U Q.
3
A x) p (Q Jf
(.3-7*2)
110
ion points.
The
F(0,Q.)
the junction points and all the A f s can be computed from the equations .2-15 as functions of the polyped members,
i.e., flexure matrices, thermal gradient coefficients, and the
s.
Ill
BIBLIOGRAPHY
1.
Brock, A Matrix Method for Flexibility Analysis of Piping Systems", Journal of Applied Mechanics, Dec. 1952.
J.
E.
TI
2.
L. D. Peck, et.
al. , "The Automatic Calculation of Forces and Deflections in Piping Systems", Transactions of the ASME, Jan. 1953.
J. E. Brock, "Matrix Analysis of Flexible Filaments", Proceedings of the First U. S. National Congress for Applied Mechanics, Chicago, 111., ASME 1953.
3.
4. G. Kronj
"Solving Highly Elastic Structures in Easy Stages", Journal of Applied Mechanics, June 1955.
Milne, Vectorial Mechanics, Interscience Publishing
T
5.
E. "A.
Frazer, .7. J. Duncan, and A. R. Collar, Elementary Matrices, Cambridge University Press, 1952.
R.
A,
112
APPENDIX
Matrix Algebra
11
Introduction,
In this thesis only elementary matrix algebra is used.
of the thesis.
12. Notation.
elements by the same lower case letter with appropriate subscripts all enclosed in parenthesis.
rictions such as lack of general commutivity, partitioned matrices may be treated as if their elements were ordinary
scalar quantities.
12.2. Matrix addition and subtraction will be denoted by
by the superscript
T
T
.
Ca.. D =C.,iJ
12.4. The symbols
I
(I2.3-D
will denote respectively the
The order of
and
supercript "*
A A" 1 = I = A" 1 A
(I2.5-D
is an (m x n) matrix and
is an (r x s)
n=r,
and then
The result
C-AB
isan(mxs)
Cij =
matrix, where
(13.1-1)
^Ta ik
b kj
114
conformable,
AB
7^BA
A
(13.2-1)
(I3.3-D
(13.3-2)
and
AO = OA =
if
P - A B C
then
PT
CT B
(I3.4-D
13.5. Reversal of order of products when matrices are
inverted.
in the matrix product are all square , nonsingular matrices. This reversal rule applies to any number of factors in the
product. if
P
-
Thus
A B C
then
P" 1 - C" 1
B"*
A" 1
(13.5-1)
=(
C"
B"
1 A" 1
T1
(13.5-2)
(C-lf =
(13.6-1)
115
matrix itself.
(C
T
)
(I3.7-D
U
A U
is also
A.
symmetrical; where
Let
as shown below
a
with
a
r + s- m
l2
(13. 9-D
a 21
a 22
in which
su,
is an r x r matrix and
1 B = A" ,
22
is an s x s
matrix.
also be partitioned
ll
12
(
b 21 b
.
'22
13.9-2)
in which
is an r x r matrix and
A B
22
is an s x s
matrix.
I
Since
=1, we have
a
a b 12 21 b 22 21
- a
=
=
a a
nbu ^
b 21 ll il 12 21 12
b
{13.9-3. 1)
+
+
(13.9-3.2)
(13. 9-3. 3)
+ a
^ a
b !2 22 a b
22 22
(13.9-3.4)
If we let
X =
-1 22
l
a l2 a
21 -1
(13. 9-4.1)
22
(13.9-4.2)
116
-(a n -a
a -la ) 12 22 21
(13.9-4.3)
B
-Q*" 1 !
-1
B * A" 1 -
L-XQ" 1
(a
22
-HxQ-iY)
'J
(13.9-5)
In the body
^(A+BU- 1
+
-1 1 A" )
-[(B-^-A f
DA" 1 ]
(I4.1-D
AU+BT-'-B
X also B(A+B)" A
-1
-1 1 = {B'
-1 -1
-1
-1 -1 1 = (B"+ A~ x )
(14.1-2)
-(A-HB)%) or
A
A
-
A -
AU+B)" 1 ^
-
A(A-f-B)- 1 A
(AtBT^AfB)
- (A +
Bj^Aj
A(AiB)- 1 A
AUI-BJ-^A+B
- A)
(14.2-1)
117
(B'Ha' 1
-1
)
(14.2-2)
AU+B-f-C}" 3^.
A(At B
C)-lC =
(CT 1*
C^BA^+A"* 1
(I4.3-D
14.4. Consider the simplification of the expression -1 A or II - ( A + B) A f B +C J" 1 A . A - (A4B)(AtB4C)
(
A - (At
B)(A^B + C)-lA
- [jA
tB + C)(At Bf C)" 1
- (A
tBHA+B + C)- 1
- (A+B)J
(AtBtC
(A+B+CJ-Ma
A -
(AtB)(AtBf
O^A
CtA+B+O^A
(14.4-1)
A- (AtBMAf Bt C)"^
(C^f
A"
1
-/-
A^BC" 1 )"
(14.4-2)
AU + B + cr^A + B)
A
or
A [i - (A-f Bt
Cj^tA + BjJ
)
-AU+B-fO^UtB)
M A t B t C )~\ A + B t C
lid
(A +
B-f-cr^AtBjJ
- AlA +
A -
B+O^UA + B-fC)
-f
(A+B)i
A( A
+ C J^C
(I4.5-D
AU+B-fcr^A-f-B) = (C^-f-A-^C^BA" 1
(14.5-2)
15.
B^p
2
C(P 2 , Pl ) B
Pi p 2
(15.1-1)
C(X,P) n
Bp n C(X,P) B pn
(I5.2-1D)
Note that if
C(X,P)
n=P, we have
* C(X,P)
(15.2-2)
TF
translated to the
point
P.
theses is important.
If we let
n=X
119
C(X,P)
Bj^
C(X,P) B
px
using equation
C(X,P)
15.1-1 we have
(15.2-3)
= C(P,X)
m.
B^
B^
C(X,P)
Bp^B^
(15.2-4)
Let
(c(X,P)J
C(X,P) m
(I5.2-5D)
Thus
(15.2-6)
B^
C(X,P) n
B^
matrices, say
C(X,P) T .
fc(X,P)V -(B^ n
C(X,P) B
Y
T
(I5.3-D
B^
C(X,P)
(b^
(15.3-2)
B^
C(X,P) Bp
C(X,P)
(15.3-3)
4 4
it should be.
15.4. The following material is applicable to the develop-
ment in chapter 4.
P.,
and
the point
P-j_
so on.
(^)
Pn
-c(P li P a p^c(P 1 ,P 2
)
...
+c(P
nil> n Pn
(I5.4-1D)
n ) Pn
P
-c(p 1( P n
n-l' nP
"
n
C<P
n-l' n>
(SbJp^clP^pJ+ctP^^t
...
*c(P
n-1
,P
n Pn
(15.4-1.1)
Also we have
r
(^OpV 1
+...
+c
p n-l P n>
-1
(I5.4-2D)
B^^ &
c )p
-lpT B
(
n _i) n
(n-l)n
C)p
a
B^1)a =
[^
n.1
)n^^)pt
B(
-{
n . 1)
|"
(15.4-3)
-1
B.
n(n-l)
(15.4-4)
(c) p
< p
p l. n>P,
,+ 1 (n-1)
C(p
p 1 . 2 )p, (n-1)
-/
C(P
n-l n P
n-1
((15.4-5)
n P
)
i-
c(p
n-1
y+ p n> n . 1
c(P ,P
1
Pn
^...^c(P n _ 2 ,p n-1
(15.4-6)
H
)
Pn
Note that all the flexure indices are written with the first
122
(15.4-7)
123
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