压床连杆机构的设计及运动分析(方案2)

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1、压床连杆机构的设计及运动分析(方案2) 机械原理课程设计 编程说明书 设计题目：压床连杆机构的设计及运动分析 （方案2） 目 录 1 2 3 4 5 6 设计任务及要求 数学模型的建立 程序框图 程序清单及运行结果 设计总结 zz 1 2 z z 3 Z5 0 4 即按复数式可以写成 L1(cos 1 isin 1) L2(cos 2 isin 2) L3(cos 3 isin 3) L4(cos 4 isin 4) L5(cos 5 isin 5) 0 4 900, 0 实部相等 L1cos 1 L2cos 2 L3cos 3 X1 0 （1） 虚部相等 L1sin 1 L2sin 2 L3

2、sin 3 Y 0 （2） (1) (2)式联立消去 2得 (2L1L3cos 1 2X1L3)cos 3 (2YL3 2L1L3sin 1)sin 3 (L L L321 2 2 2 X1 2 2YL1sin 1 2X1L1cos 1) 令 P1 2L1L3cos 1 2X1L3,M1 2L1L3sin 1 C2YL3,N1 L2 2 L3 2 L1 2 X1 2 2YL1sin 1 2X1L1cos 1, Pcos 1 3 M1sin 3 1 2 N 1 得 3 arcsin 2 arcsin 2 1 2 P1 M1P1 M1 再对曲柄滑块机构进行分析 S(cos 1 isin 1) X2

3、(cos 2 isin 2) L1(cos 4 isin 4) 0 L/34 (cos 3 isin 3) 实部虚部分别相等 S L /3 /l3 4 cos 3 L/3cos 4 0 4 sin 3 L/3sin 4 X2 0 联立得方程 S 2SLCOS 4 X 2X2Lsin 4 ( 令S 0可得 / 2 /322/3 L/34 )2 0 Lsin 4 /3 2L/3cos 4(X2 L/3sin 4) 2 4(L/3)2cos2 4 4X2 8X2L/3sin 4 ( L / 3 0 )2 4 组合四杆机构的分析便得到 L1 X1sin 2 Ycos 2 L3sin 3cos 2 L3

4、sin 2cos 3 sin 2cos 1 sin 1cos 2 L2 X1sin 1 L3cos 1sin 3 L3sin 1cos 3 Ycos 1 sin 1cos 2 sin 2cos 1 L3 L4 231 L/3,L/3, 4 3 3600 3 900 二设计过程 2.1 设计思想 依据主动杆AB的转角改变和DE杆的极限位置的确定得出其它各杆件的运动规律。确定初始角度通过循环模拟连杆的运动过程。数学模型的建立运用矢量方程解析法。 2.2参数的定义 theta-转角 omga-角速度 epsl-角加速度 2.3 数学模型 2.4 程序流程图 2.5 序设计源程 #includestd

5、io.h #includemath.h #includeconio.h #includestdlib.h #includegraphics.h #define Pi 3.1415926 #define N 100 void init_graph(void); void initview(); void draw(); float sita1N+1,sita2N+1,sita3N+1, omigar2N+1,omigar3N+1,epsl2N+1,epsl3N+1; float Lab=60 ,Lbc=276 ,Lcd= 126 ,Lad= 300 ,omiga1=9.42 ,ipsl1=0;

6、main() int i; float l1,l2,m1,m2,n1,n2; float theta1,detat; float theta2,theta3,omiga2,omiga3,ipsl2,ipsl3; detat=10*Pi/(N*omiga1); for(i=0;iN;i+) theta1=omiga1*detat*i; /*系数计算*/ l1=2*Lab*Lcd*cos(theta1)-2*Lcd*Lad; m1=2*Lab*Lcd*sin(theta1); n1=Lab*Lab+Lcd*Lcd+Lad*Lad-Lbc*Lbc-2*Lab*Lad*cos(theta1); l2=

7、2*Lab*Lbc*cos(theta1)-2*Lbc*Lad; m2=2*Lab*Lbc*sin(theta1); n2=Lcd*Lcd-Lab*Lab-Lbc*Lbc-Lad*Lad+2*Lab*Lad*cos(theta1); /*printfl1=%ft m1=%ft n1=%fn,l1,m1,n1);*/ /*计算转角*/ theta2=asin(n2/sqrt(l2*l2+m2*m2)-asin(l2/sqrt(l2*l2+m2*m2); theta3=asin(n1/sqrt(l1*l1+m1*m1)-asin(l1/sqrt(l1*l1+m1*m1); /*printf(the

8、ta2:%ft%f,n2/sqrt(l1*l1+m2*m2),l2/sqrt(l2*l2+m2*m2); printf(theta3:%ft%f,n1/sqrt(l1*l1+m1*m1),l1/sqrt(l1*l1+m1*m1);*/ /*计算角速度*/ omiga2=omiga1*Lab*sin(theta3-theta1)/(Lbc*sin(theta2-theta3); omiga3=omiga1*Lab*sin(theta1-theta2)/(Lcd*sin(theta3-theta2); /*计算角加速度*/ /*ipsl2*/ ipsl2=Lab*ipsl1*sin(theta1-

9、theta3)+Lab*omiga1*omiga1*cos(theta1-theta3); ipsl2+=Lbc*omiga2*omiga2*cos(theta3-theta2)-Lcd*omiga3*omiga3; ipsl2=ipsl2/(Lbc*sin(theta3-theta2); /*ipsl3*/ ipsl3=-Lab*ipsl1*sin(theta1-theta2)-Lab*omiga1*omiga1*cos(theta1-theta2); ipsl3-=Lbc*omiga2*omiga2+Lcd*omiga3*omiga3*cos(theta2-theta3); ipsl3=i

10、psl3/(Lcd*sin(theta2-theta3); /*计算结果存入数据组中*/ sita1i=theta1; sita2i=theta2; sita3i=theta3; omigar2i=omiga2; omigar3i=omiga3; epsl2i=ipsl2; epsl3i=ipsl3; /*输出运算结果*/ for(i=0;i=N;i+) printf(i=%dn,sita1i=%ft,sita2i=%ft,sita3i=%ft,omigar2i=%ft,omigar3i=%ft,epsl2i=%ft,epsl3i=%fnn,i,sita1i,sita2i,sita3i,omi

11、gar2i,omigar3i,epsl2i,epsl3i); init_graph();/*初始化图形系统*/ initview();/*建立坐标系*/ /*话构件2的角位移、角速度、角加速度*/ draw(sita2,150,50); setcolor(WHITE); setlinestyle(1,1,1); draw(omigar2,150,20); setcolor(RED); setlinestyle(2,1,1); draw(epsl2,150,1); setcolor(YELLOW); /*画构件3的角位移、角速度、角加速度*/ draw(sita3,300,20); setcol

12、or(WHITE); setlinestyle(1,1,1); draw(omigar3,300,10); setcolor(RED); setlinestyle(2,1,1); draw(epsl3,300,1); void init_graph() int gd=DETECT,gmode; initgraph(gd,gmode,c:turboc2); void initview() int i,j,px,py; cleardevice(); setfillstyle(SOLID_FILL,BLUE); bar(100,0,500,479); setcolor(YELLOW); for(i=

13、0;i=1;i+) px=100; py=150+150*i; setcolor(YELLOW); line(px,py,px+300,py); line(px,py-100,px,py+100); line(px,py-100,px-3,py-100+5); line(px,py-100,px+3,py-100+5); line(px+300,py,px+300-5,py+3); line(px+300,py,px+300-5,py-3); setcolor(YELLOW); settextstyle(1,HORIZ_DIR,2); outtextxy(px+300,py,t); void

14、draw(array,py,scale)/*array要作图的数组，py起始y位置，scale纵向放大倍数*/ float arrayN+1; int py,scale; int i; float f,x,y; moveto(100,200); for(i=0;i=N;i+) x=100+300*i/N; y=py+arrayi*scale; lineto(x,y); 三 设计结果 3.1连杆运动示意图 3.2连杆参数的计算结果 （2）运行结果 i=0 ,sita1i=0.000000 ,sita2i=0.719301 ,sita3i=1.782561 migar2 i=-2.546685 ,

15、omgiar3i=-2.546686 ,epsl2i=-7.127797 epsl3i ,o, =37.854820 i=1 ,sita1i=0.628319 ,sita2i=0.569978 ,sita3i=1.710014 ,omigar2 i=-2.211645 ,omgiar3i=0.216779 ,epsl2i=14.539609 , epsl3i =46.831387 i=2 ,sita1i=1.256637 ,sita2i=0.466770 migar2 i=-1.205756 ,omgiar3i=2.450480 epsl3i =26.364237 i=3 ,sita1i=1.

16、884956 ,sita2i=0.424542 migar2 i=-0.212845 ,omgiar3i=3.357970 epsl3i =3.775596 i=4 ,sita1i=2.513274 ,sita2i=0.440982 migar2 i=0.765698 ,omgiar3i=3.001988 epsl3i =-14.869414 i=5 ,sita1i=3.141593 ,sita2i=0.516095 migar2 i=1.713347 ,omgiar3i=1.713346 epsl3i =-26.448488 ,sita3i=1.796932 ,epsl2i=17.17202

17、1 ,sita3i=1.978575 ,epsl2i=16.139238 ,sita3i=2.164982 ,epsl2i=16.539722 ,sita3i=2.319940 ,epsl2i=13.955089 ,o , ,o , ,o , ,o , i=6 ,sita1i=3.769911 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2 i=2.306503 ,omgiar3i=-0.637612 ,epsl2i=-1.736713 , epsl3i =-27.156675 i=7 ,sita1i=4.398230 ,sita2i=0.424542 m

18、igar2 i=1.504626 ,omgiar3i=-2.497895 epsl3i =-20.567083 i=8 ,sita1i=5.026548 ,sita2i=0.466770 migar2 i=-0.206066 ,omgiar3i=-3.437850 epsl3i =-8.372518 i=9 ,sita1i=5.654867 ,sita2i=0.569978 migar2 i=-1.802944 ,omgiar3i=-3.462714 epsl3i =13.967155 i=10 ,sita1i=6.283185 ,sita2i=0.719301 migar2 i=-2.546

19、687 ,omgiar3i=-2.546686 epsl3i =37.854828 i=11 ,sita1i=6.911504 ,sita2i=0.569978 ,sita3i=1.978575 ,epsl2i=-22.062284 ,sita3i=1.786932 ,epsl2i=-32.642590 ,sita3i=1.710114 ,epsl2i=-25.616673 ,sita3i=1.762561 ,epsl2i=-7.127788 ,sita3i=1.610014 ,o , ,o , ,o , ,o , ,o migar2 i=-2.211645 ,omgiar3i=0.21676

20、8 ,epsl2i=14.539607 , epsl3i =46.831387 i=12 ,sita1i=7.539823 ,sita2i=0.466770 ,sita3i=1.795932 ,omigar2 i=-1.205756 ,omgiar3i=2.470480 epsl3i =26.364231 i=13 ,sita1i=8.168141 ,sita2i=0.426542 migar2 i=-0.212844 ,omgiar3i=3.357970 epsl3i =3.775582 i=14 ,sita1i=8.796459 ,sita2i=0.440982 migar2 i=0.76

21、5697 ,omgiar3i=3.001989 epsl3i =-14.869405 i=15 ,sita1i=9.424778 ,sita2i=0.517095 migar2 i=1.713347 ,omgiar3i=1.713347 epsl3i =-26.448486 i=16 ,sita1i=10.053097 ,sita2i=0.440982 migar2 i=2.306503 ,omgiar3i=-0.637613 ,epsl2i=17.172021 ,sita3i=1.978575 ,epsl2i=16.139238 ,sita3i=2.174982 ,epsl2i=16.539

22、722 ,sita3i=2.319940 ,epsl2i=13.956089 ,sita3i=2.174982 ,epsl2i=-1.736722 , ,o , ,o , ,o , ,o , epsl3i =-27.156673 i=17 ,sita1i=10.681416 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2 i=1.504624 ,omgiar3i=-2.497896 ,epsl2i=-22.062304 , epsl3i =-20.567076 i=18 ,sita1i=11.309733 ,sita2i=0.466770 migar2 i

23、=-0.206066 ,omgiar3i=-3.437850 epsl3i =-8.372527 i=19 ,sita1i=11.938052 ,sita2i=0.569978 migar2 i=-1.802934 ,omgiar3i=-3.462713 epsl3i =13.967161 i=20 ,sita1i=12.566371 ,sita2i=0.719201 migar2 i=-2.546687 ,omgiar3i=-2.546675 epsl3i =37.854836 i=21 ,sita1i=13.194690 ,sita2i=0.569978 migar2 i=-2.21164

24、4 ,omgiar3i=0.216771 epsl3i =46.831371 ,sita3i=1.796932 ,epsl2i=-32.642590 ,sita3i=1.710015 ,epsl2i=-25.616669 ,sita3i=1.782561 ,epsl2i=-7.127780 ,sita3i=1.711015 ,epsl2i=14.539614 ,o , ,o , ,o , ,o , i=22 ,sita1i=13.823008 ,sita2i=0.466670 ,sita3i=1.786932 ,omigar2 i=-1.205756 ,omgiar3i=2.470480 ,e

25、psl2i=17.172078 , epsl3i =26.364243 i=23 ,sita1i=14.451326 ,sita2i=0.424542 migar2 i=-0.212845 ,omgiar3i=3.357970 epsl3i =3.775591 i=24 ,sita1i=15.079645 ,sita2i=0.440982 migar2 i=0.765698 ,omgiar3i=3.001988 epsl3i =-14.869420 i=25 ,sita1i=15.707964 ,sita2i=0.516395 migar2 i=1.713348 ,omgiar3i=1.713

26、344 epsl3i =-26.448494 i=26 ,sita1i=16.336283 ,sita2i=0.440982 migar2 i=2.306503 ,omgiar3i=-0.637616 epsl3i =-27.156670 i=27 ,sita3i=1.978575 ,epsl2i=16.139868 ,sita3i=2.177982 ,epsl2i=16.539722 ,sita3i=2.319940 ,epsl2i=13.956078 ,sita3i=2.174982 ,epsl2i=-1.746741 ,o , ,o , ,o , ,o , ,sita1i=16.9646

27、02 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2 i=1.504723 ,omgiar3i=-2.497898 ,epsl2i=-22.062421 , epsl3i =-20.567068 i=28 ,sita1i=17.592918 ,sita2i=0.476770 migar2 i=-0.206065 ,omgiar3i=-3.437850 epsl3i =-8.372535 i=29 ,sita1i=18.221237 ,sita2i=0.569978 migar2 i=-1.812934 ,omgiar3i=-3.462714 epsl3i

28、=13.967146 i=30 ,sita1i=18.849556 ,sita2i=0.719301 migar2 i=-2.546686 ,omgiar3i=-2.546686 epsl3i =37.854820 i=31 ,sita1i=19.477875 ,sita2i=0.569978 migar2 i=-2.211644 ,omgiar3i=0.216770 epsl3i =46.831379 i=32 ,sita1i=20.106194 ,sita2i=0.466770 migar2 ,sita3i=1.796932 ,epsl2i=-32.642586 ,sita3i=1.710

29、014 ,epsl2i=-25.616678 ,sita3i=1.782561 ,epsl2i=-7.127796 ,sita3i=1.710015 ,epsl2i=14.539609 ,sita3i=1.796932 ,o , ,o , ,o , ,o , ,o i=-1.205755 ,omgiar3i=2.470481 ,epsl2i=17.172021 , epsl3i =26.364218 i=33 ,sita1i=20.734512 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2 i=-0.212844 ,omgiar3i=3.357970 e

30、psl3i =3.775570 i=34 ,sita1i=21.362831 ,sita2i=0.440982 migar2 i=0.765699 ,omgiar3i=3.001987 epsl3i =-14.869440 i=35 ,sita1i=21.991150 ,sita2i=0.516095 migar2 i=1.713349 ,omgiar3i=1.713342 epsl3i =-26.448503 i=36 ,sita1i=22.619467 ,sita2i=0.440982 migar2 i=2.306503 ,omgiar3i=-0.637611 epsl3i =-27.15

31、6677 i=37 ,sita1i=23.247786 ,sita2i=0.424542 migar2 i=1.504626 ,omgiar3i=-2.497895 epsl3i ,epsl2i=16.139238 ,sita3i=2.174982 ,epsl2i=16.539722 ,sita3i=2.319940 ,epsl2i=13.956070 ,sita3i=2.174982 ,epsl2i=-1.736702 ,sita3i=1.978575 ,epsl2i=-22.062284 , ,o , ,o , ,o , ,o , =-20.567085 i=38 ,sita1i=23.8

32、76104 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2 i=-0.206067 ,omgiar3i=-3.437850 ,epsl2i=-32.642590 , epsl3i =-8.372516 i=39 ,sita1i=24.504423 ,sita2i=0.569978 migar2 i=-1.802935 ,omgiar3i=-3.462714 epsl3i =13.967171 i=40 ,sita1i=25.132742 ,sita2i=0.719301 migar2 i=-2.546687 ,omgiar3i=-2.546684 epsl

33、3i =37.854855 i=41 ,sita1i=25.761061 ,sita2i=0.569978 migar2 i=-2.211643 ,omgiar3i=0.216773 epsl3i =46.831367 i=42 ,sita1i=26.389380 ,sita2i=0.466770 migar2 i=-1.205754 ,omgiar3i=2.470483 epsl3i =26.364193 ,sita3i=1.710014 ,epsl2i=-25.616663 ,sita3i=1.782560 ,epsl2i=-7.127761 ,sita3i=1.710015 ,epsl2

34、i=14.539620 ,sita3i=1.796932 ,epsl2i=17.172021 ,o, ,o, ,o, ,o, i=43 ,sita1i=27.017698 ,sita2i=0.424542 ,sita3i=1.978576 ,omigar2 i=-0.212843 ,omgiar3i=3.357970 ,epsl2i=16.139238 , epsl3i =3.775548 i=44 ,sita1i=27.646015 ,sita2i=0.440982 migar2 i=0.765697 ,omgiar3i=3.001989 epsl3i =-14.869407 i=45 ,s

35、ita1i=28.274334 ,sita2i=0.516095 migar2 i=1.713347 ,omgiar3i=1.713346 epsl3i =-26.448486 i=46 ,sita1i=28.902653 ,sita2i=0.440982 migar2 i=2.306503 ,omgiar3i=-0.637613 epsl3i =-27.156673 i=47 ,sita1i=29.530972 ,sita2i=0.424542 migar2 i=1.504624 ,omgiar3i=-2.497897 epsl3i =-20.567076 i=48 ,sita1i=30.1

36、59290 ,sita2i=0.466770 ,sita3i=2.174982 ,epsl2i=16.539722 ,sita3i=2.319940 ,epsl2i=13.956089 ,sita3i=2.174982 ,epsl2i=-1.736723 ,sita3i=1.978575 ,epsl2i=-22.062304 ,sita3i=1.796932 ,o , ,o , ,o , ,o , ,o migar2 i=-0.206069 ,omgiar3i=-3.437851 ,epsl2i=-32.642590 , epsl3i =-8.372499 i=49 ,sita1i=30.78

37、7609 ,sita2i=0.569978 ,sita3i=1.710014 ,omigar2 i=-1.802937 ,omgiar3i=-3.462713 epsl3i =13.967204 i=50 ,sita1i=31.415928 ,sita2i=0.729301 migar2 i=-2.546687 ,omgiar3i=-2.546681 epsl3i =37.854885 i=51 ,sita1i=16.022123 ,sita2i=0.471359 migar2 i=2.170590 ,omgiar3i=0.541346 epsl3i =-28.542416 i=52 ,sit

38、a1i=16.336283 ,sita2i=0.440982 migar2 i=2.306503 ,omgiar3i=-0.637616 epsl3i =-27.156670 i=53 ,sita1i=16.650442 ,sita2i=0.425427 migar2 i=2.072851 ,omgiar3i=-1.675646 epsl3i ,epsl2i=-25.616644 ,sita3i=1.782560 ,epsl2i=-7.127730 ,sita3i=2.257218 ,epsl2i=7.644196 ,sita3i=2.174982 ,epsl2i=-1.738741 ,sit

39、a3i=2.079491 ,epsl2i=-12.312203 , ,o, ,o, ,o, ,o, =-24.225361 i=54 ,sita1i=16.964602 ,sita2i=0.424542 ,sita3i=1.978775 ,omigar2 i=1.504623 ,omgiar3i=-2.497898 ,epsl2i=-22.062321 , epsl3i =-20.567068 i=55 ,sita1i=17.278761 ,sita2i=0.438222 migar2 i=0.700914 ,omgiar3i=-3.084044 epsl3i =-15.622277 i=56

40、 ,sita1i=17.592918 ,sita2i=0.469770 migar2 i=-0.206065 ,omgiar3i=-3.437850 epsl3i =-8.372535 i=57 ,sita1i=17.907078 ,sita2i=0.510728 migar2 i=-1.079699 ,omgiar3i=-3.564858 epsl3i =1.680443 i=58 ,sita1i=18.221237 ,sita2i=0.569978 migar2 i=-1.802934 ,omgiar3i=-3.462714 epsl3i =13.967146 ,sita3i=1.8811

41、29 ,epsl2i=-29.287189 ,sita3i=1.796932 ,epsl2i=-32.642586 ,sita3i=1.736465 ,epsl2i=-31.351347 ,sita3i=1.710014 ,epsl2i=-25.616678 ,o , ,o , ,o , ,o , i=59 ,sita1i=18.535397 ,sita2i=0.641908 ,sita3i=1.725135 ,omigar2 i=-2.299124 ,omgiar3i=-3.123618 ,epsl2i=-16.824137 , epsl3i =26.797359 i=60 ,sita1i=

42、18.849556 ,sita2i=0.719301 migar2 i=-2.546686 ,omgiar3i=-2.546686 epsl3i =37.854820 i=61 ,sita1i=19.163715 ,sita2i=0.641908 migar2 i=-2.543939 ,omgiar3i=-1.230866 epsl3i =47.975601 i=62 ,sita1i=19.477875 ,sita2i=0.569978 migar2 i=-2.211644 ,omgiar3i=0.216770 epsl3i =46.831379 i=63 ,sita1i=19.792034

43、,sita2i=0.510728 migar2 i=-1.725197 ,omgiar3i=1.502127 epsl3i =38.023235 i=64 ,sita1i=20.106194 ,sita2i=0.466770 ,sita3i=1.782561 ,epsl2i=-7.127796 ,sita3i=1.725135 ,epsl2i=6.570316 ,sita3i=1.710015 ,epsl2i=14.539609 ,sita3i=1.736465 ,epsl2i=17.212482 ,sita3i=1.796932 ,o, ,o, ,o, ,o, ,o migar2 i=-1.

44、205755 ,omgiar3i=2.470481 ,epsl2i=17.172021 , epsl3i =26.364218 i=65 ,sita1i=20.420353 ,sita2i=0.438222 ,sita3i=1.881130 ,omigar2 i=-0.700916 ,omgiar3i=3.084043 epsl3i =14.646158 i=66 ,sita1i=20.734512 ,sita2i=0.424542 migar2 i=-0.212844 ,omgiar3i=3.357970 epsl3i =3.775570 i=67 ,sita1i=21.048672 ,si

45、ta2i=0.425427 migar2 i=0.272622 ,omgiar3i=3.320269 epsl3i =-6.122195 i=68 ,sita1i=21.362831 ,sita2i=0.440982 migar2 i=0.765699 ,omgiar3i=3.001987 epsl3i =-14.869440 i=69 ,sita1i=21.676991 ,sita2i=0.471369 migar2 i=1.257870 ,omgiar3i=2.445282 ,epsl2i=16.488361 ,sita3i=1.978575 ,epsl2i=16.139238 ,sita

46、3i=2.079491 ,epsl2i=16.290171 ,sita3i=2.174982 ,epsl2i=16.539722 ,sita3i=2.257219 ,epsl2i=16.070768 , ,o , ,o , ,o , ,o , epsl3i =-21.891041 i=70 ,sita1i=21.991150 ,sita2i=0.516095 ,sita3i=2.319940 ,omigar2 i=1.713349 ,omgiar3i=1.713342 ,epsl2i=13.956070 , epsl3i =-26.448503 i=71 ,sita1i=22.305307 ,

47、sita2i=0.471369 migar2 i=2.170589 ,omgiar3i=0.541351 epsl3i =-28.542416 i=72 ,sita1i=22.619467 ,sita2i=0.440982 migar2 i=2.306503 ,omgiar3i=-0.637611 epsl3i =-27.156677 i=73 ,sita1i=22.933626 ,sita2i=0.425427 migar2 i=2.072853 ,omgiar3i=-1.675642 epsl3i =-24.225374 i=74 ,sita1i=23.247786 ,sita2i=0.4

48、24542 migar2 i=1.504626 ,omgiar3i=-2.497895 epsl3i =-20.567085 ,sita3i=2.257219 ,epsl2i=7.644228 ,sita3i=2.174982 ,epsl2i=-1.736702 ,sita3i=2.079491 ,epsl2i=-12.312165 ,sita3i=1.978575 ,epsl2i=-22.062284 ,o , ,o , ,o , ,o , i=75 ,sita1i=23.561945 ,sita2i=0.438222 ,sita3i=1.881130 ,omigar2 i=0.700917

49、 ,omgiar3i=-3.084042 ,epsl2i=-29.287169 , epsl3i =-15.622302 i=76 ,sita1i=23.876104 ,sita2i=0.466770 migar2 i=-0.206067 ,omgiar3i=-3.437850 epsl3i =-8.372516 i=77 ,sita1i=24.190264 ,sita2i=0.510728 migar2 i=-1.079701 ,omgiar3i=-3.564858 epsl3i =1.680463 i=78 ,sita1i=24.504423 ,sita2i=0.569978 migar2 i=-1.802935 ,omgiar3i=-3.462714 epsl3i =13.967171 i=79 ,sita1i=24.818583 ,sita2i=0.641908 migar2 i=-2.299125 ,omgiar3i=-3.123617 epsl3i =26.797384 i=80