10/31/2012

H L XO
THANH CHU KO NN
H THANH

1. H L XO
= q2 q1 < 0
f1 = f = k | |= k (q1 q2 )
f 2 = f = k | |= k (q2 q1)
f1 k
=
f 2 k

k q1

k q2

= q2 q1 > 0
f1 = f = k | |= k (q1 q2 )
f 2 = f = k | |= k (q2 q1)
Phm Huy Hong

10/31/2012

1. H L XO

r
q1

r
f1

r
q2
r
f2

f1 k
=
f 2 k

k q1

k q2

Phm Huy Hong

1. H L XO

k1

k4

k2

r
P

k3

Phm Huy Hong

10/31/2012

1. H L XO
k1

k4

r
P

k2

r
f1l1

r
f 2l
1

k3
r
f
r 2l4
f
rl4 2
f l2 2

r
fl1 2

r
f 2l
2

fil j = fl j i

r
f 4l
4
r
f l2 3

r
f3l
2

r
f l4 4

r
fl3 3

r
fl3 4

r
f3l3

r
f 4l3

r
P

Phm Huy Hong

1. H L XO
f 2l4 k 4

=
f 4l4 k 4

k 4 q 2

k4 q4

f1l1 k1 k1 q1

=

f 2l1 k1 k1 q2
f3l3 k3 k3 q3

=

f 4l3 k3 k3 q4
f 2l2 k 2

=
f3l2 k 2

k 2 q 2

k2 q3
Phm Huy Hong

10/31/2012

1. H L XO

fl 2 + f l 2 + fl 2 = 0
1
4
2

fl 3 + fl 3 = 0
2
3

fl 4 + f l 4 + P = 0
4
3

Phm Huy Hong

1. H L XO

f1l1 k1 k1 q1

=

f 2l1 k1 k1 q2

f1l1 k1 k1 0 0 q1

f 2l1 k1 k1 0 0 q2

=

0 0 0 q3
0 0
0 0
0 0 0 q4

Phm Huy Hong

10/31/2012

1. H L XO

0
0
0
f

2l2 0 k 2

=
f3l2 0 k 2

0
0
0

f 2l2 k 2

=
f3l2 k 2

0
k2
k2
0

0 q1
0 q2

0 q3
0 q4

k 2 q 2

k2 q3
Phm Huy Hong

1. H L XO

0 0
0

0
f =
3l3 0
f 4l 0
3

0
0
0 q1
0
0
0 q2

0 k3 k3 q3
0 k3 k3 q4

f3l3 k3 k3 q3

=

f 4l3 k3 k3 q4

Phm Huy Hong

10/31/2012

1. H L XO
f 2l4 k 4

=
f 4l4 k 4

0
0
0
f

2l4 0 k 4

=
0
0
0

f 4l4 0 k 4

k 4 q 2

k4 q4

0
0 q1
0 k4 q2

0
0 q3
0 k4 q4
Phm Huy Hong

1. H L XO
fl 4 + f l 4 + P = 0
4
3
fl 3 + fl 3 = 0
2
3

fl1 2 + fl4 2 + fl2 2 = 0

f1l1

k
k1

1
f 2l1 + f 2l2 + f 2l4 k1 k1 + k2 + k 4

=
f
f
k2
3
l
+
3
l
2
0
3
0

k4
f 4l3 + f 4l4

0
k2
k 2 + k3
k3

0 q1
k 4 q2

k3 q3
k3 + k4 q4

Phm Huy Hong

10/31/2012

1. H L XO
fl 4 + f l 4 + P = 0
4
3
fl 3 + fl 3 = 0
2
3

fl1 2 + fl4 2 + fl2 2 = 0

f1l1 k1
k1

0 k1 k1 + k 2 + k4

=
k2
0 0

k4
P 0

0 q1
k 4 q2

k3 q3
k 2 + k3
k3
k3 + k4 q4
0
k2

Phm Huy Hong

1. H L XO

pti
1
2
3
4

f1l1 k1
k1

0 k1 k1 + k 2 + k4

=
k2
0 0

k4
P 0

node1i nodei2
1
2
2
3
3
4
2
4

ki
k1
k2
k3
k4

0 q1
k 4 q2

k 2 + k3
k3 q3
k3
k3 + k4 q4
0
k2

Phm Huy Hong

10/31/2012

1. H L XO

f1l1 k1
k1

0 k1 k1 + k 2 + k4

=
k2
0

P 0
k4
0 k1 + k 2 + k 4

0 =
k2

P
k4

q2 , q3 , q4 f1l
1

0
k2
k 4 q2

k 2 + k3
k3 q3
k3
k3 + k4 q4
k2
k 4 q2

k3 q3
k 2 + k3

k3
k3 + k4 q4
0

Phm Huy Hong

2. THANH CHU KO NN

k=

AE
L

f1 k k q1
AE
=
& k=

L
f 2 k k q 2
f AE 1 1 q1
1=

f 2 L 1 1 q2
Phm Huy Hong

10/31/2012

2. THANH CHU KO NN
pti
1

node1i nodei2
1
2

k=

R1
3 3 0 q1 = 0

P = k 3 4 1 q2

0 1 1 q3
2 P
P AE 4 1 q2
=

2 P L 1 1 q3

R1 =

Phm Huy Hong

ki
k1 = 3k
k2 = k

AE
L

AE
(3.0 3.q2 + 0.q3 ) = 3P
L

q = PL
2 AE

q3 = 3PL

AE

2. THANH CHU KO NN

k=

AE
L

f EA T
f
f
= LT & = q2 q1 = 1 = 2 1 =

k
k
f 2 EA T
f1 AE 1 1 q1
1 AE 1 1 q1

EA

T
=

1 L 1 1 q2
f 2 L 1 1 q 2
Phm Huy Hong

10/31/2012

2. THANH CHU KO NN
Bi ton c khe h

Phm Huy Hong

2. THANH CHU KO NN
Phn t thanh 3 nt

7 8 1
AE
K=
8 16 8

3L
1 8 7

Ti sao? Xin xem li chng 3 v trn

BK-Elearning
Phm Huy Hong

10

10/31/2012

3. H THANH PHNG

q
q 1 = 1
0

f
f1 =
0

q
q 2 = 2
0
q1
0

q =
q2
0

f
f2 =
0
f
0

f =
f
0

k
0
q ; K
=
f = K
k
0

0 k
0

Phm Huy Hong

0
0

0
0

3. H THANH PHNG

f1x
F1 =

f1 y
f2 x
F2 =

f2 y

q1x
q1 =

q1 y
q 2 x
q2 =

q 2 y

f1x
f
1y
F=

f2 x

f2 y

q1x
q
1y
q=

q2 x
q2 y

F = Kq
Phm Huy Hong

11

10/31/2012

3. H THANH PHNG

x
x
= T
y
y

cos
sin
T=
0

sin

cos

cos

sin

sin
cos
0

Phm Huy Hong

3. H THANH PHNG
q , F = Kq
f = K
F = Tf , q = Tq
Tf = KTq
q = KTq
TK
= KT
TK
T 1 = KTT 1
TK
T 1
K = TK
cos
sin
T=
0

sin

cos

cos

sin

sin
cos
0

k
0
=
K
k
0

0 k
0

0
0

0
0

Phm Huy Hong

12

10/31/2012

3. H THANH PHNG
q1x
q
1y
q=

q2 x

q2 y

f1x
f
1y
F=

f2 x
f2 y

F = Kq
cos 2

sin cos

K = TKT = k
cos 2

sin cos

sin cos
sin 2
sin cos
sin 2

cos 2
sin cos
cos 2
sin cos

sin cos

sin 2
sin cos

sin 2

Phm Huy Hong

3. H THANH PHNG
q1x
q
1y
q=

q2 x

q2 y

f1x
f
1y
F=

f2 x
f2 y

F = Kq
c2

sc
K = k
c 2

sc

sc
s2
sc
s2

c2
sc
c2
sc

sc

s2
sc

s 2

Phm Huy Hong

13

10/31/2012

3. H THANH PHNG

Phm Huy Hong

3. H THANH PHNG

-1

-1

1 +1 1 0 + 0 1
2 2
2 2
0 +0 1
0 + 01
2 2
2 2
1
1

2 2
2 2
1
1

2 2
2 2

1
2 2
1

2 2
1
+
2 2
1
+
2 2

1
2 2
1

2 2
1
+
2 2
1
+
2 2

Phm Huy Hong

14

10/31/2012

3. H THANH PHNG

1
0

K = k 0

0
0
0
0
0
0

1
0
1
1+
2 2
1
2 2
1

2 2
1

2 2

0
0
1
2 2
1
2 2
1

2 2
1

2 2

0
0
1

2 2
1

2 2
1
2 2
1
2 2

0
0
1

2 2
1

2 2
1

2 2
1
2 2

Phm Huy Hong

3. H THANH PHNG

Fx1
1
R
F yx11
10

R y1
0
F
x2
1
0
1

kk 0
FyP2 =
=
0

0
0
Fx3
R

0
R
y3
3
F

0
00
0

0
0

00
00
0

1
01
01
1+ 1
1+ 2 2
12 2
1
22 22
11

2 2
1

22 22

0
00
10

1
2 2
2 12
1
22 22
11

2 2
1

22 22

0
00
01
1
2 2
2 12
1

2 2
2 2
11
2 2
1
22 22

0 x01
00
y001

x0

01
1 x 2
2 2 2
2 12
1 y 2

2 2 y 2

2 2
11
x003
2 2
1

22 22 y03

Phm Huy Hong

15

10/31/2012

3. H THANH PHNG

R x1
1
R
0
y1

0
1

P
k
=

0
R x3

R y3

0
0
0
0
0
0

1
0
1
1+
2 2
1
2 2
1

2 2
1

2 2

0
0
1
2 2
1
2 2
1

2 2
1

2 2

0
0
1

2 2
1

2 2
1
2 2
1
2 2

0 0
0 0
1 x2

2 2
1 y

2
2 2
1
0
2 2
1
2 2 0

Phm Huy Hong

3. H THANH PHNG

1
1 + 1
2 2 2 2 x2
0

= k 1
1 y 2
P

2 2
2 2
R x1
R x3
x
2
&
y2
R y1
R y3

Phm Huy Hong

16

10/31/2012

3. H THANH PHNG
Gi nghing
Skew inclined support

x 2 sin 30 o = y 2 cos 30 o

R 2 x cos 30 o = R 2 y sin 30 o

Phm Huy Hong

3. H THANH PHNG

1
0

K = k 0

0
0
0
0
0
0

1
0
1
1+
2 2
1
2 2
1

2 2
1

2 2

0
0
1
2 2
1
2 2
1

2 2
1

2 2

0
0
1

2 2
1

2 2
1
2 2
1
2 2

0
0
1

2 2
1

2 2
1

2 2
1
2 2

Phm Huy Hong

17

10/31/2012

3. H THANH PHNG

R x1

R y1

0
o

R
x
=

30
R
tg
2
2y

2x

= K y 2 = x 2 tg 30
R2 y + P

R x3

R y3
Phm Huy Hong

3. H THANH PHNG
Bi ton i xng - Symmetry
r
q=0

Phm Huy Hong

18

10/31/2012

3. H THANH PHNG
Bi ton i xng - Symmetry

Phm Huy Hong

3. H THANH PHNG
Bi ton kt hp

Phm Huy Hong

19

10/31/2012

3. H THANH PHNG
Bi ton kt hp

Phm Huy Hong

3. H THANH PHNG
Bi ton kt hp

Phm Huy Hong

R x1
0
R

0
y1

x
0

y
P

ky
=
K

2
2

0
R x3

0
y3

20

10/31/2012

3. H THANH PHNG
Bi ton nhit cho h thanh phng

Tm hiu v tho lun trn BK-Elearning

Phm Huy Hong

4. H THANH KHNG GIAN

Phm Huy Hong

21