!

!" #
!" $ !" $
%
τ$ = " ∧ τ # = " ∧ ∧τ = " &' !" ( $ )

τ = τ$ + τ # + + τ% = " * ' !" +

& '( &) *

+ (, &
 -
.
.

/
/

$
$
%
%
#
#

. / " " / 0 1$2 /

01 (2+ 23) " #0 1$2 01 + 0 0 1$2
0 " (45) " 01
0 !" ' ( $ ) 01 !" '
Dir Dir Dir
M rótula = 0 M rótula 1 = 0 M rótula n −1 = 0
ou ou ∧ ∧ ou
Esq Esq Esq
M rótula = 0 M rótula 1 = 0 M rótula n −1 = 0

&

0 !" '
Dir
Fy slide =0
ou
Esq
Fy slide =0

,-
! ( '

0 !" '
Dir
Fx piston = 0
ou
Esq
Fx piston = 0

! ( ,&
&3 4 5 4

6/ 7

Dir
6
M rótula =0
ou
Esq
M rótula =0

&3 4 5

6/

0 # " !
0 % 0 0
"
6 Dir
Fy rótulav = 0
ou
Esq
Fy rótulav = 0

,
 ( 7 + (, &

( ' * ! ( 7 + (, &

8 9 5 : ;% 9 ;% -3
AC CB
Fx =0 Fx =0
AC CB
Fy =0 ∧ Fy =0
AC CB
MZ =0 MZ =0

8
6
8 (9 : 97 : 7 9 : )

8 9 5 < 1$ ; =# 9 ; =# -3
Fx = 0 M CZ =0AC

Fy = 0 ∧ ou
MZ =0 M CZ CB = 0

;
; (9 : 97 : 7 ) 6

,,
 ) ) 6

, =* >
-=*

? @ " % A B 01 C$

• 01 # 01 + 01 A %
' > %
• 01 5 @ " A
A

DEEE

7 7

( ' * ! ' ) ) 6
8 9 5 : ;% 9 ;% -3
6
6 ?

Fx AB = 0 Fx BCD = 0 Fx DEF = 0
Fy AB = 0 ∧ F y BCD = 0 ∧ F y DEF = 0
(9 97 : 7 9 9F : F 9 9G : G)
M Z AB = 0 M Z BCD = 0 M Z DEF = 0

,<
 8 9 5 : ;% 9 ;% -3
, <
6
6
?

Fx AB = 0 Fx BCD = 0 Fx DEF = 0
Fy AB = 0 F y BCD = 0 F y DEF = 0
M Z AB = 0 M Z BCD = 0 M Z DEF = 0

< < <

< (9 97 : 7 ) < (9 9F : F) < (9 9G : G)

8 9 5 < 1$ ; =# 9 ; =# -3
6 ? 6
?

Fx = 0
Esq Dir H
Fy = 0 ∧ M rot B =0 ∧ M rot D =0
H (9 9 9 9G : G)
M PZ = 0

,
I / @ " ! 1$ 01 #'
;@ > 0 = #2 = 0 # # 2> %

F % / / =# 01 +
=# A 0 -3 2

. =# 01 C / J 01 +
% 01 A J 01
0 J 1$ /
%=0 1$2> =# 9
Fx = 0
Fy = 0 < 01
M PZ = 0

Esq ou Dir
M rot 1 =0 0 $ 0 J / $

Esq ou Dir
M rot =0 0 1$ 0 J / 1$
n −1

,;
 :
?
(G+ G3)
F 0 0 (G+KG L G3KG L) ?B C
I 01 ?A

: : D
IKG+ ?

9 9 5 =
=
=

A
G 0 ? =* ? =*

G 0 " !
=* >
=* >
=* >

G 0 " !
=* >
=* > =* >

G 0 " ! 5 =* >

" ! =* >

E 5 4 $) &
6/
&
? = = =

,H