Matrix 1 Matrix 2 Matrix 3

Matrix 4

Matrix 5

Matrix 6

1
0
0.0866
0
0
0
0
0
0
0
0
0
0
0

0
1
-0.05
0
0
0
0
0
0
0
0
0
0
0

1
0
-0.0866
-1
0
-0.173
0
0
0
0
0
0
0
0

0
1
0.05
0
-1
0.305
0
0
0
0
0
0
0
0

0
0
0
1
0
0.209
-1
0
0.1942
0
0
0
0
0

0
0
0
0
1
0.282
0
-1
0.0478
0
0
0
0
0

0
1
2
3
4
5
6
7
8
9
10
11
12
13
14

1
1
0
0
0
0
0
0
0
0
0
0
0
0
-0.0866

2
0
1
0
0
0
0
0
0
0
0
0
0
0
0.05

3
0
0
0
0
0
0
0
0
0
0
0
0
0
1

4
0.926346654
0.29923598
-0.92634665
-0.29923598
0.073653346
-0.29923598
0
0
0.073653346
-0.29923598
0
0
0
-0.13051964

0.129851275
0.472445237
-0.12985128
-0.47244524
-0.12985128
0.527554763
0
0
-0.12985128
0.527554763
0
0
0
0.024754283

Matrix 7

Matrix 8

Matrix 9

Matrix 10

Matrix 11

0
0
0
1
0
0.011
0
0
0
-1
0
0.204
0
0

0
0
0
0
1
0.072
0
0
0
0
-1
0.3442
0
0

0
0
0
0
0
0
1
0
0.1942
0
0
0
0
0

0
0
0
0
0
0
0
1
0.0478
0
0
0
0
0

0
0
0
0
0
0
0
0
0
1
0
0.204
-1
0

6
0.425741886
-1.72968775
-0.42574189
1.729687748
-0.42574189
1.729687748
0
0
-0.42574189
1.729687748
0
0
0
-0.24670727

7
0.507663354
-0.03113438
-0.50766335
0.031134379
-0.50766335
0.031134379
0
0
0.492336646
0.031134379
0
0
0
-0.09104073

8
0.124955244
-0.00766335
-0.12495524
0.007663354
-0.12495524
0.007663354
0
0
-0.12495524
1.007663354
0
0
0
-0.02240858

9
-2.61412644
0.160321212
2.614126436
-0.16032121
2.614126436
-0.16032121
0
0
2.614126436
-0.16032121
0
0
0
0.46879882

10
0.820371228
0.171524177
-0.82037123
-0.17152418
0.104147765
-0.42312753
-0.92451899
0.251603355
0.104147765
-0.42312753
0.075481006
0.251603355
0.251603355
-0.12493588

Matrix 12

Matrix 13

Matrix 14

0
0
0
0
0
0
0
0
0
0
1
0.3442
0
-1

0
0
0
0
0
0
0
0
0
0
0
0
0.3
1

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

11
-0.02620455
0.164528019
0.026204551
-0.16452802
-0.10115115
0.410952988
0.127355698
-0.57548101
-0.10115115
0.410952988
0.127355698
0.424518994
0.424518994
0.02099143

12
-0.54244405
-0.53277077
0.54244405
0.532770774
0.172439116
-0.700579
0.370004933
1.233349778
0.172439116
-0.700579
0.370004933
1.233349778
1.233349778
0.040674232

13
0.709712642
0.062838939
-0.70971264
-0.06283894
0.139325345
-0.56604565
-0.84903799
0.503206709
0.139325345
-0.56604565
-0.84903799
0.503206709
0.503206709
-0.11663834

14
-0.21291379
-0.01885168
0.212913793
0.018851682
-0.0417976
0.169813695
0.254711396
-0.15096201
-0.0417976
0.169813695
0.254711396
-0.15096201
0.849037987
0.034991501

Product of the Equation

-126.331
-218.812
0
-617.5462
-211.6675
4.014994
-381.9225
-139.04
6.7348
-938.409
-342.422
2.33154
-207.144
0

Final Result
F12 X
F12 Y
F32 X
F32 Y
F43 X
F43 Y
F53 X
F53 Y
F14 X
F14 Y
F65 X
F65 Y
F16 Y
T12
F16 X

Forces
-1862.18443
-728.070597
1735.853427
509.258597
117.6038699
438.0012386
1000.703358
-140.410142
-264.31863
298.9612386
62.29435752
-482.832142
-482.832142
249.7236185
-144.849642

Raw Data
m2
m3
m4
m5
m6
ag2x
ag2y
ag3x
ag3y
ag4x
ag4y
ag5x
ag5y
ag6x
ag6y

alpha2
alpha3
alpha4
alpha5

1
2.5
1.5
1.8
0.9
-126.331
-218.812
-247.0185
-84.667
-254.615
-92.6999
-521.3386
-190.2346
-230.16
0

0
501.868
1346.969
388.859

Joint Force (N)

1999.45433461 Resultant Force O

From WM
% dif
1969.558 -1.51792101

1809.01394144 Resultant Force A

1905.815 5.079247386

453.514889803 Resultant Force B

288.712

1010.50592162 Resultant Force C

777.668 -29.9405301

399.051576117 Resultant Force E

238.259 -67.4864648

486.83412363 Resultant Force D

#DIV/0!
208.994 -132.941675

r12x
r12y
r32x
r32y
r23x
r23y
r43x
r43y
r53x
r53y
r34x
r34y
r14x
r14y
r35x
r35y
r65x

-0.05
-0.0866
0.05
0.0866
-0.305
-0.173
0.282
0.209
0.072
-0.011
-0.0478
0.1942
0.0478
-0.1942
-0.3442
0.204
0.3442

-57.082106

r65y

-0.204