% Assigment 1 - flexibility method

clear,clc;
R=[22.5;45;42.5;100];
bR=[1,zeros(1,3)
-1,-3,0,0
0.167,0.5,-0.167,-0.5
1,3,-1,0
-0.5,-1.5,0.5,-1.5
0,-1,0,0
0.5,1.5,-0.5,1.5
zeros(1,4)
0,-1,0,0
zeros(2,4)
-0.167,-0.5,0.167,-0.5
zeros(2,4)]

bX=[zeros(1,3)
3,2.1213,0
0,-0.7071,0
-3,-2.1213,0
3,0,0
-1,-0.7071,0
-3,0,0
3,0,2.1213
-1,0,-0.7071
-3,0,-2.1213
0,0,0
0,0,-0.7071
0,1,0
0,0,1]

% Assembly
syms L1 L2 E Iz A
fa=[L1/(6*E*Iz)*[2,-1,0;-1,2,0];L1/(A*E)*[0,0,1]]
fb=fa;fc=fa;fd=fa;
fe=L2/(A*E);
ff=fe
f=blkdiag(fa,fb,fc,fd,fe,ff)
L1=sym(3);L2=sym(4.2426);E=sym(2*10^8);Iz=sym(0.0005);A=sym(0.005);
F_XR=bX'*f*bR;
F_XR=eval(F_XR);
digits(4);
F_XR=vpa(F_XR)
F_XX=bX'*f*bX;
F_XX=eval(F_XX);
F_XX=vpa(F_XX)
inv(F_XX)
X=-inv(F_XX)*F_XR*R
Q=[bR,bX]*[R;X]
bR =

1.0000 0 0 0
-1.0000 -3.0000 0 0
0.1670 0.5000 -0.1670 -0.5000
1.0000 3.0000 -1.0000 0
-0.5000 -1.5000 0.5000 -1.5000
0 -1.0000 0 0
0.5000 1.5000 -0.5000 1.5000
0 0 0 0
0 -1.0000 0 0
0 0 0 0
0 0 0 0
-0.1670 -0.5000 0.1670 -0.5000
0 0 0 0
0 0 0 0

bX =

0 0 0
3.0000 2.1213 0
0 -0.7071 0
-3.0000 -2.1213 0
3.0000 0 0
-1.0000 -0.7071 0
-3.0000 0 0
3.0000 0 2.1213
-1.0000 0 -0.7071
-3.0000 0 -2.1213
0 0 0
0 0 -0.7071
0 1.0000 0
0 0 1.0000

fa =

[ L1/(3*E*Iz), -L1/(6*E*Iz), 0]
[ -L1/(6*E*Iz), L1/(3*E*Iz), 0]
[ 0, 0, L1/(A*E)]

ff =

L2/(A*E)

f=

[ L1/(3*E*Iz), -L1/(6*E*Iz), 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0]
[ -L1/(6*E*Iz), L1/(3*E*Iz), 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0]
[ 0, 0, L1/(A*E), 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0]
[ 0, 0, 0, L1/(3*E*Iz), -L1/(6*E*Iz), 0, 0, 0, 0, 0,
0, 0, 0, 0]
[ 0, 0, 0, -L1/(6*E*Iz), L1/(3*E*Iz), 0, 0, 0, 0, 0,
0, 0, 0, 0]
[ 0, 0, 0, 0, 0, L1/(A*E), 0, 0, 0, 0, 0,
0, 0, 0]
[ 0, 0, 0, 0, 0, 0, L1/(3*E*Iz), -L1/(6*E*Iz), 0, 0,
0, 0, 0, 0]
[ 0, 0, 0, 0, 0, 0, -L1/(6*E*Iz), L1/(3*E*Iz), 0, 0,
0, 0, 0, 0]
[ 0, 0, 0, 0, 0, 0, 0, 0, L1/(A*E), 0, 0,
0, 0, 0]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, L1/(3*E*Iz), -L1/
(6*E*Iz), 0, 0, 0]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, -L1/(6*E*Iz), L1/
(3*E*Iz), 0, 0, 0]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, L1/
(A*E), 0, 0]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, L2/(A*E), 0]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, L2/(A*E)]

F_XR =

[ -0.000135, -0.000354, 9.0*10^(-5), -0.000135]

[ -5.869*10^(-5), -0.0001421, 2.687*10^(-5), -1.485*10^(-5)]
[ -4.949*10^(-6), -1.273*10^(-5), 4.949*10^(-6), -1.485*10^(-5)]

F_XX =
[ 0.000726, 0.0001612, 0.0001612]
[ 0.0001612, 9.724*10^(-5), 0]
[ 0.0001612, 0, 9.724*10^(-5)]

ans =

[ 5224.0, -8661.0, -8661.0]

[ -8661.0, 24644.0, 14388.0]
[ -8661.0, 14388.0, 24644.0]

X=

62.86
-21.35
-84.08

Q=

45/2
-14.19
-15.75
-28.31
-18.91
-92.77
18.91
10.23
-48.41
-10.23
0
-9.705
-21.35
-84.08