機械原理大作業(yè)-牛頭刨床

機械原理大作業(yè)——牛頭刨床大作業(yè)，一，平面連桿機構(gòu)的運動分析題號:6班級:姓名:學(xué)號:同組者:成績:完成時間:目錄題目、原始數(shù)據(jù)及要求............................................................................................1一平面連桿機構(gòu)運動分析方程...............................................................................11.1速度計算公式......................................................................................21.2加速度計算公式...................................................................................2二程序.....................................................................................................................32.1計算程序框圖..........................................................................................32.2計算源程序..............................................................................................4三3.1(一組數(shù)據(jù)Lab=200mm)計算結(jié)果...................................................93.2運動線圖....................................................................................................103.3體會.........................................................................................................12四4.1(第二組數(shù)據(jù)Lab=150mm)計算結(jié)果....................................................124.2運動線圖...............................................................................................134.3體會.........................................................................................................15五5.1(第三組數(shù)據(jù)Lab=220mm)計算結(jié)果....................................................165.2運動線圖...................................................................................................175.3體會...........................................................................................................21六參考資料......................................................................................................21題目、原始數(shù)據(jù)及要求:圖所示為一牛頭刨床(?級機構(gòu))。設(shè)已知各構(gòu)件的尺寸如下所示，又如原動件1(AB桿)以角速度ψ1=1rad/s沿逆時針方向回轉(zhuǎn)，試求各從動件的位移、角速度及角加速度以及刨頭C點的位移、速度及加速度的變化情況。第六組數(shù)據(jù)(6-A，6-B，6-C):Lcd=960mm，Lde=160mm，h=900mm，h1=460mm，h2=120mmA:Lab=200mmB:Lab=150mmC:Lab=220mm要求:每組至少打印一份源程序，每個同學(xué)計算出原動件從0?到360?時(計算點數(shù)N=36)所要求各運動變量的大小，并繪制出各組相應(yīng)的運動線圖。一平面連桿機構(gòu)運動分析方程:先建立一直角坐標系。其中共有四個未知量θ3、θ4、S3及Sc。為求解需要建立兩個封閉矢量方程，為此需利用兩個封閉圖形ABCA及CDEGC，由此可得L4+L3=Le+Sc;La’+L1=S3+L4并寫成投影方程為L4*cos4+L3*cos3-Sc=0,,L4*sin4+L3*sin3-Le=0,La'*cos1+L1*cos1-S3*cos3-L4*cos4=0,,,,La'*sin1+L1*sin1-S3*sin3-L4*sin4=0,,,,、θ4、S3及Sc四個運動變量，而滑塊2的方位角由以上各式即可求得θ3θ2=θ3。然后，分別將上列各式對時間取一次、二次導(dǎo)數(shù)，并寫成矩陣形式，即得以下速度和加速度方程式速度計算公式:-L4*sin4,-L3*sin3,-1,040,,,，，，，，，,,,,,,L4*cos4,L3*cos3,0,030,,,,,,,,,*,,,,,,,L4*sin4,S3*sin3,0,-cos3L1*1*sin1c,,,,,,,,,,,,-L4*cos4,-S3*cos3,0,-sin33-L1*1*cos1S,,,,,，，，，，，加速度計算-L4*sin4,-L3*sin3,-1,04,,,，，，，,,,,L4*cos4,L3*cos3,0,03,,,,,,,*,,,,,L4*sin4,S3*sin3,0,-cos3ac,,,,,,,-L4*cos4,-S3*cos3,0,-sin33S,,,，，，，-L4*4*cos3,-L3*3*cos3,0,04,，，，，,,,,,,,,-L4*4*sin3,-L3*3*sin3,0,03,,,,,,,,,,*，,,,,L4*4*cos3,S3*sin3+S3*3*cos3,0,3*sin3;c,,,,,,,,,,,,L4*4*sin4,-S3*cos3+S3*3*sin3,0,-3*cos33S,,,,,,,，，，，0，，,,0,,1*,L1*1*cos3,,,,,,L1*1*sin3，，,,二程序2.1計算程序框圖:開始讀入LabLcdLdehh1h2w1計算θ3、θ4、S3及Sc計算w3、w4、Vc計算α3α4αc輸出θ3θ4S3Scw3、w4Vcα3α4αc結(jié)束2.2計算源程序:(1)數(shù)據(jù)輸入程序使用Matlabguide設(shè)計的界面輸入原始數(shù)據(jù)，使數(shù)據(jù)輸入方便，變化靈活，結(jié):disp('牛頭刨床(?級機構(gòu)):');L1=str2num(get(handles.edit1,'string'));L3=str2num(get(handles.edit2,'string'));L4=str2num(get(handles.edit3,'string'));H=str2num(get(handles.edit4,'string'));Y=str2num(get(handles.edit5,'string'));X=str2num(get(handles.edit6,'string'));W1=1;n=36;fprintf('Lab=%d\nLcd=%d\nLde=%d\nH(Yce)=%d\nXae=%d\nYae=%d\n角速度W1=%drad/s\n計算點數(shù)n=%d\n',L1,L3,L4,H,X,Y,W1,n);(2)解方程源程序functionpushbutton1_Callback(hObject,eventdata,handles)L=sqrt(X^2+Y^2);th0=atan(Y/X);th1=0:2*pi/n:2*pi;opt=optimset('display','off');ths=zeros(length(th1),4);t=[0.10.788];fori=1:length(th1)ths(i,:)=fsolve(@Work,t,opt,th1(i),th0,L3,L4,H,L,L1);t=ths(i,:);endd=calculate(ths,n,L1,L3,L4,W1);ths(:,4)=[];th1=th1.*(180/pi);data=[th1'thsd];title={'轉(zhuǎn)角';'桿CD轉(zhuǎn)角';'桿DE轉(zhuǎn)角';'C點位移';'桿CD角速度';'桿DE角速度';'C點速度';'桿CD加速度';'桿DE加速度';'C點加速度'};xlswrite('data.xls',title');xlswrite('data.xls',data,'A2:J38');disp('計算點的運動量在當前文件夾下data.xls文件內(nèi)');functionf=Work(th,th1,th0,L3,L4,H,L,L1)f=[L3*cos(th(1))+L4*cos(th(2))-th(3);...L3*sin(th(1))+L4*sin(th(2))-H;...L*cos(th0)+L1*cos(th1)-th(4)*cos(th(1))-L4*cos(th(2));...L*sin(th0)+L1*sin(th1)-th(4)*sin(th(1))-L4*sin(th(2))];(3)畫運動線圖源程序function[data]=calculate(ths,N,L1,L3,L4,W1)th1=0:2*pi/N:2*pi;C=zeros(4,length(th1));figure(1)x=th1.*(180/pi);y1=ths(:,1)'.*(180/pi);y2=ths(:,2)'.*(180/pi);y3=ths(:,3)';clfreset,h_ap=axes('Position',[0.13,0.13,0.7,0.75]);set(h_ap,'Xcolor','b','Ycolor','b','Xlim',[0,360],'Ylim',[-30,330]);nx=12;ny=12;pxtick=0:(360/nx):360;pytick=-30:(390/ny):360;set(h_ap,'Xtick',pxtick,'Ytick',pytick,'Xgrid','on','Ygrid','on')line(x,y1,'Color','b');text(x(1,8),y1(1,8),'CD桿角度θ3','Color','b');line(x,y2,'Color','k');text(x(1,16),y2(1,16),'ED桿角度θ4')set(get(h_ap,'Xlabel'),'String','AB桿角度θ1/(?)')set(get(h_ap,'Ylabel'),'String','θ3、θ4/(?)')%plot(x,y1,'b*');plot(x,y2,'kx');h_at=axes('Position',get(h_ap,'Position'));set(h_at,'Color','none','Xcolor','r','Ycolor','r');set(h_at,'Xaxislocation','top')set(h_at,'Yaxislocation','right','Ydir','rev')set(h_at,'Xlim',[0,360],'Ylim',[-1200,1200])tytick=-1200:(2400/ny):1200;set(h_at,'Xtick',pxtick,'Ytick',tytick)line(x,y3,'Color','r','Parent',h_at);text(x(1,24),y3(1,24),'C點行程Sc','Color','r','Parent',h_at)set(get(h_at,'Xlabel'),'String','AB桿角度θ1/(?)')set(get(h_at,'Ylabel'),'String','Sc/(m)')%plot(x,y3,'ro','Parent',h_at)fori=1:length(th1)A=[-L4*sin(ths(i,2))-L3*sin(ths(i,1))-10;...L4*cos(ths(i,2))L3*cos(ths(i,1))00;...L4*sin(ths(i,2))(ths(i,4))*sin(ths(i,1))0-cos(ths(i,1));...-L4*cos(ths(i,2))-(ths(i,4))*cos(ths(i,1))0-sin(ths(i,1))];B=[0;0;L1*W1*sin(th1(i));-L1*W1*cos(th1(i))];C(:,i)=inv(A)*B;endW4=C(1,:);W3=C(2,:);Vc=C(3,:);S3=C(4,:);data(:,2)=C(1,:)';data(:,1)=C(2,:)';data(:,3)=C(3,:)';figure(2)y1=W3;y2=W4;y3=Vc;clfreset,h_ap=axes('Position',[0.13,0.13,0.7,0.75]);set(h_ap,'Xcolor','b','Ycolor','b','Xlim',[0,360],'Ylim',[-2,4]);nx=12;ny=12;pxtick=0:(360/nx):360;pytick=-2:(6/ny):4;set(h_ap,'Xtick',pxtick,'Ytick',pytick,'Xgrid','on','Ygrid','on')line(x,y1,'Color','b');text(x(1,8),y1(1,8),'CD桿角速度W3','Color','b');line(x,y2,'Color','k');text(x(1,16),y2(1,16),'ED桿角速度W4'))')set(get(h_ap,'Xlabel'),'String','AB桿角度θ1/(?set(get(h_ap,'Ylabel'),'String','W3、W4/(rad/s)')h_at=axes('Position',get(h_ap,'Position'));set(h_at,'Color','none','Xcolor','r','Ycolor','r');set(h_at,'Xaxislocation','top')set(h_at,'Yaxislocation','right','Ydir','rev')set(h_at,'Xlim',[0,360],'Ylim',[-1200,1200])line(x,y3,'Color','r','Parent',h_at);text(x(1,24),y3(1,24),'C點速度Vc','Color','r','Parent',h_at)tytick=-1200:(2400/ny):1200;set(h_at,'Xtick',pxtick,'Ytick',tytick)set(get(h_at,'Xlabel'),'String','AB桿角度θ1/(?)')set(get(h_at,'Ylabel'),'String','Vc/(m/s)')fori=1:length(th1)B=[-L4*W4(i)*cos(ths(i,2))L3*W3(i)*cos(ths(i,1))00;...-L4*W4(i)*sin(ths(i,2))-L3*W3(i)*sin(ths(i,1))00;...L4*W4(i)*cos(ths(i,2))S3(i)*sin(ths(i,1))+(ths(i,4))*cos(ths(i,1))0W3(i)*sin(ths(i,1));...L4*W4(i)*sin(ths(i,2))-S3(i)*cos(ths(i,1))+(ths(i,4))*sin(ths(i,1))0-W3(i)*cos(ths(i,1))];D=[0;0;L1*W1^2*cos(th1(i));L1*W1^2*sin(th1(i))];E=[W4(i);W3(i);Vc(i);S3(i)];C(:,i)=inv(A)*(-B*E+D);enda4=C(1,:);a3=C(2,:);ac=C(3,:);figure(3)data(:,5)=C(1,:)';data(:,4)=C(2,:)';data(:,6)=C(3,:)';y1=a3;y2=a4;y3=ac;clfreset,h_ap=axes('Position',[0.13,0.13,0.7,0.75]);set(h_ap,'Xcolor','b','Ycolor','b','Xlim',[0,360],'Ylim',[-1,5]);nx=12;ny=12;pxtick=0:(360/nx):360;pytick=-1:(6/ny):5;set(h_ap,'Xtick',pxtick,'Ytick',pytick,'Xgrid','on','Ygrid','on')line(x,y1,'Color','b');text(x(1,8),y1(1,8),'CD桿角加速度α3','Color','b');line(x,y2,'Color','k');text(x(1,16),y2(1,16),'DE桿角加速度α4')set(get(h_ap,'Xlabel'),'String','AB桿角度θ1/(?)')set(get(h_ap,'Ylabel'),'String','α3、α4/(rad/s^{2})')h_at=axes('Position',get(h_ap,'Position'));set(h_at,'Color','none','Xcolor','r','Ycolor','r');set(h_at,'Xaxislocation','top')set(h_at,'Yaxislocation','right','Ydir','rev')set(h_at,'Xlim',[0,360],'Ylim',[-1200,1200])line(x,y3,'Color','r','Parent',h_at);text(x(1,24),y3(1,24),'C點加速度ac','Color','r','Parent',h_at))')set(get(h_at,'Xlabel'),'String','AB桿角度θ1/(?set(get(h_at,'Ylabel'),'String','ac/(rad/s^{2})')tytick=-1200:(2400/ny):1200;set(h_at,'Xtick',pxtick,'Ytick',tytick)(4)畫運動示意圖源程序%畫運動示意圖x=L4*cos(ths(:,2)');y=L4*sin(ths(:,2)');xx=x+L3*cos(ths(:,1)');yy=y+L3*sin(ths(:,1)');x1=X+L1*cos(th1);y1=Y+L1*sin(th1);n=3;whilenfori=1:length(th1)-1axes(handles.axes1);a=[0x(i)xx(i)xx(i)+200xx(i)-800];b=[0y(i)yy(i)yy(i)yy(i)];plot(a,b)holdona=[Xx1(i)];b=[Yy1(i)];plot(a,b)holdoffaxis([-10001000-1001000])pause(0.1);drawnow;endn=n-1;end三3.1(一組數(shù)據(jù)Lab=200mm)計算結(jié)果:θθ3θ4α3α4αcScW3W4Vc01.241166-0.052470.52910.158023-0.30732-146.090.229299-0.3089-218.176101.271697-0.10883441.92640.189229-0.33654-179.4430.15799-0.11399-152.338201.306571-0.16755408.4740.209104-0.33231-202.6410.1109410.019387-107.068301.344364-0.2237371.53530.223316-0.3085-219.8610.0771640.120768-73.1847401.38436-0.27446331.95530.23468-0.27115-233.1470.0507890.206435-45.9384501.426206-0.31771290.31610.244703-0.2227-243.5940.0290180.284061-23.2507601.469751-0.35159247.05050.25426-0.16392-251.8770.0106580.356439-4.49216701.514964-0.37433202.4920.26388-0.09493-258.483-0.004750.42364310.22401801.561883-0.38414156.89590.27385-0.0158-263.832-0.017460.48442520.49654901.61058-0.37928110.44690.2842360.073019-268.325-0.027970.53743425.99921001.661115-0.3581563.259670.2948620.170383-272.357-0.037260.58251326.81061101.713494-0.3194215.381130.3052790.274368-276.304-0.0470.62196623.701931201.767621-0.26215-33.20070.314730.382347-280.453-0.059480.66138618.341631301.823236-0.18591-82.5330.3221010.491164-284.891-0.07740.70945113.390321401.879844-0.09087-132.6460.3258050.597028-289.287-0.10330.77604912.492181501.9366180.022021-183.4470.3235410.694586-292.495-0.138740.86777320.118411601.9922430.15058-234.5280.3119910.774541-291.894-0.182670.97902440.940071702.0447340.290395-284.8370.2868760.819897-282.607-0.229061.07817577.916461802.0913670.433211-332.2610.2444610.803784-257.582-0.266171.100705128.55971902.1290620.565632-373.4470.1850050.696475-210.364-0.283010.98514182.32492002.1552920.67009-404.3050.1142950.482787-139.482-0.281840.758531226.15922102.1686010.728246-420.9010.0369890.167364-47.1737-0.282470.5748257.26452202.1673520.722615-419.312-0.05585-0.2509770.91034-0.326370.691935292.95912302.1461010.632099-393.24-0.20226-0.8184240.2765-0.525111.623693382.63822402.088430.423599-329.173-0.49183-1.60178515.6409-1.170934.596166612.65962501.9667690.089387-210.916-0.87927-2.04299807.9634-1.829858.217312779.00812601.806425-0.21076-67.657-0.89037-1.27539788.4473-0.986756.209659515.74612701.665518-0.3555559.19637-0.7241-0.43833667.6075-0.333813.718296257.70432801.551189-0.38315167.2204-0.594440.075395575.0597-0.060842.23877779.681712901.455667-0.3419261.0195-0.504910.369392501.32040.0861591.308161-59.83593001.373946-0.26212342.2936-0.432650.525667429.11760.2034750.635507-187.0913101.304833-0.16478410.1575-0.357090.570875345.73670.3276250.048486-316.4463201.250677-0.07024461.6983-0.257980.488292240.56280.463172-0.53798-443.1293301.216845-0.00306492.7423-0.125090.260147112.77090.543919-0.96983-507.7363401.2071830.017293501.40310.010064-0.02148-8.970270.477541-0.92814-441.5153501.217842-0.00513491.84240.1041-0.21591-93.95270.339366-0.59914-317.0963601.241166-0.052470.52910.158023-0.30732-146.090.229299-0.3089-218.1763.2運動線圖(用坐標紙分別會出各從動件的角位移線圖、角速度線圖及角加速度線圖和E點的軌跡曲線，并作必要分析，說明其變化情況):1:CD桿角度、ED桿角度、C點行程隨AB桿角度的變化(AB最初位置水平向右，且逆時針旋轉(zhuǎn))2:CD桿角速度、ED桿加速度和C點速度隨AB桿角度的變化(AB最初位置水平向右，且逆時針旋轉(zhuǎn))3:CD桿角加速度、ED桿角加速度和C點加速度隨AB桿角度變化(AB最初位置水平向右，且逆時針旋轉(zhuǎn))3.3體會:機械原理大作業(yè)終于結(jié)束了。在這次課程實踐中，我受益匪淺～大概可以分為以下幾點:首先，我們還處于大三，知識的疏淺讓我們在做大作業(yè)過程中有點捉襟見肘了，感覺到了知識用時方很少的尷尬，所以，我們以后要努力學(xué)習(xí)好其他專業(yè)課程，提高自己處理專業(yè)問題的能力。其次，這次的課程實踐中，我們是三個人一組的，這種實踐模式讓我深刻體會到了人與人之間的互相協(xié)調(diào)合作的精神，提高了我的團隊協(xié)作能力，為我將來更好地步入社會奠定了基礎(chǔ)。再次，課程設(shè)計不但使我對課本的知識和內(nèi)容有了更深刻的理解，而且使我更進一步掌握了MATLAB。在課程設(shè)計過程中我自學(xué)了MATLAB的有關(guān)知識，特別是MATLAB中g(shù)uide的知識，讓我了解到MATLAB的靈活性，使我受益匪淺。課程設(shè)計不但培養(yǎng)了我們分析問題解決問題的能力，加強了我們對知識的了解和運用，提高了我們的實踐能力，拓寬了我們的視野，更重要的是使我們對本專業(yè)有了進一步的了解，增強了我們面對未來和困難的信心。在實踐中學(xué)習(xí)，在快樂中學(xué)習(xí)，能夠解決問題無疑是很有成就感的一件事，希待學(xué)校多采取類似的教學(xué)方法～四4.1(第二組數(shù)據(jù)Lab=150mm計算結(jié)果θθ3θ4α3α4αcScW3W4Vc01.241166-0.052470.52910.158023-0.30732-146.090.229299-0.3089-218.176101.271697-0.10883441.92640.189229-0.33654-179.4430.15799-0.11399-152.338201.306571-0.16755408.4740.209104-0.33231-202.6410.1109410.019387-107.068301.344364-0.2237371.53530.223316-0.3085-219.8610.0771640.120768-73.1847401.38436-0.27446331.95530.23468-0.27115-233.1470.0507890.206435-45.9384501.426206-0.31771290.31610.244703-0.2227-243.5940.0290180.284061-23.2507601.469751-0.35159247.05050.25426-0.16392-251.8770.0106580.356439-4.49216701.514964-0.37433202.4920.26388-0.09493-258.483-0.004750.42364310.22401801.561883-0.38414156.89590.27385-0.0158-263.832-0.017460.48442520.49654901.61058-0.37928110.44690.2842360.073019-268.325-0.027970.53743425.99921001.661115-0.3581563.259670.2948620.170383-272.357-0.037260.58251326.81061101.713494-0.3194215.381130.3052790.274368-276.304-0.0470.62196623.701931201.767621-0.26215-33.20070.314730.382347-280.453-0.059480.66138618.341631301.823236-0.18591-82.5330.3221010.491164-284.891-0.07740.70945113.390321401.879844-0.09087-132.6460.3258050.597028-289.287-0.10330.77604912.492181501.9366180.022021-183.4470.3235410.694586-292.495-0.138740.86777320.118411601.9922430.15058-234.5280.3119910.774541-291.894-0.182670.97902440.940071702.0447340.290395-284.8370.2868760.819897-282.607-0.229061.07817577.916461802.0913670.433211-332.2610.2444610.803784-257.582-0.266171.100705128.55971902.1290620.565632-373.4470.1850050.696475-210.364-0.283010.98514182.32492002.1552920.67009-404.3050.1142950.482787-139.482-0.281840.758531226.15922102.1686010.728246-420.9010.0369890.167364-47.1737-0.282470.5748257.26452202.1673520.722615-419.312-0.05585-0.2509770.91034-0.326370.691935292.95912302.1461010.632099-393.24-0.20226-0.8184240.2765-0.525111.623693382.63822402.088430.423599-329.173-0.49183-1.60178515.6409-1.170934.596166612.65962501.9667690.089387-210.916-0.87927-2.04299807.9634-1.829858.217312779.00812601.806425-0.21076-67.657-0.89037-1.27539788.4473-0.986756.209659515.74612701.665518-0.3555559.19637-0.7241-0.43833667.6075-0.333813.718296257.70432801.551189-0.38315167.2204-0.594440.075395575.0597-0.060842.23877779.681712901.455667-0.3419261.0195-0.504910.369392501.32040.0861591.308161-59.83593001.373946-0.26212342.2936-0.432650.525667429.11760.2034750.635507-187.0913101.304833-0.16478410.1575-0.357090.570875345.73670.3276250.048486-316.4463201.250677-0.07024461.6983-0.257980.488292240.56280.463172-0.53798-443.1293301.216845-0.00306492.7423-0.125090.260147112.77090.543919-0.96983-507.7363401.2071830.017293501.40310.010064-0.02148-8.970270.477541-0.92814-441.5153501.217842-0.00513491.84240.1041-0.21591-93.95270.339366-0.59914-317.0963601.241166-0.052470.52910.158023-0.30732-146.090.229299-0.3089-218.1764.2運動線圖(用坐標紙分別會出各從動件的角位移線圖、角速度線圖及角加速度線圖和E點的軌跡曲線，并作必要分析，說明其變化情況):1:CD桿角度、ED桿角度、C點行程隨AB桿角度的變化(AB最初位置水平向右，且逆時針旋轉(zhuǎn))2:CD桿角速度、ED桿加速度和C點速度隨AB桿角度的變化(AB最初位置水平向右，且逆時針旋轉(zhuǎn))3:CD桿角加速度、ED桿角加速度和C點加速度隨AB桿角度變化(AB最初位置水平向右，且逆時針旋轉(zhuǎn))4.3體會在機械原理課程設(shè)計過程中我收獲非常大，從開始設(shè)計、策劃、寫程序到最后調(diào)試，期間遇到了無數(shù)難題，為了解決各種問題我們不得不花費很多時間在圖書館，課本和網(wǎng)上去找資料，去接觸和學(xué)習(xí)很多以前不了解的知識。同學(xué)之間的討論是必不可少的，從中更吸取好多相當不錯的思想和方法，領(lǐng)略到了別人在處理專業(yè)技能問題時的優(yōu)秀想法,更深切的體會到人與人之間的那種相互協(xié)調(diào)合作的機制,最重要的還是自己對一些問題的看法產(chǎn)生了良性的變化。我們努力完成作業(yè)后的喜悅和成就感讓我們發(fā)現(xiàn)實踐對我們真的很重要，尤其是對于我們大學(xué)生，所以，我們在掌握了理論知識之后，還要學(xué)會把理論應(yīng)用于實踐，在實踐中檢驗真理。希望學(xué)校多采取類似的實踐性強的教學(xué)活動。五5.1(第三組數(shù)據(jù)h2=130mm)計算結(jié)果:θθ3θ4α3α4αcScW3W4Vc00.9322190.939615666.627-0.235151.425157-2.829280.4553070.470819-571.903100.8985451.195691656.4582-0.147971.509133-113.5260.5202320.612445-600.535200.8815971.465572627.2879-0.043451.578561-218.9790.5873910.654326-578.021300.8840721.743993581.07420.0725431.601305-306.2310.6233880.543636-476.842400.9065482.020175522.30360.1820771.550314-361.0520.6063290.259349-314.203500.9460762.280984457.15940.2654391.42871-380.0210.547287-0.11294-154.783600.9972512.516582391.1560.3156781.267326-373.2010.477574-0.45072-49.5972701.0546542.722837327.61240.338241.096315-353.7360.418876-0.69869-2.73592801.1142152.899628267.90790.3417420.931133-330.1640.376705-0.865155.490459901.1732263.048485212.3850.3328110.776507-306.130.34833-0.9777-4.984331001.2299043.171336161.02620.3154990.633161-282.4370.329047-1.06055-20.58141101.2830023.27018113.80570.2920610.501529-258.5570.314791-1.13083-33.42151201.3315643.34715870.847740.2636380.382888-233.380.303017-1.20057-39.71851301.3747613.40469732.496820.2305920.279096-205.5150.292928-1.27934-38.56361401.4117683.445541-0.641750.1925870.191778-173.3670.285445-1.37624-31.00191501.4416373.472629-27.66440.1485420.121384-135.10.283174-1.50183-19.32531601.4631573.488802-47.31810.0965240.066167-88.52440.290788-1.67067-6.721671701.4746963.4963-57.92570.0335660.020607-30.92950.316335-1.906012.5328731801.4739833.49586-57.2686-0.04479-0.027741.258610.374487-2.249752.2428231901.4577573.48501-42.3704-0.14578-0.10478133.40740.494185-2.7866-17.02242001.421013.454491-8.97331-0.28315-0.26646255.65960.738142-3.7045-68.16392101.3551093.37981649.97717-0.4872-0.6438432.56441.258424-5.43497-154.7652201.2435673.19