机械原理大作业-凸轮

欢迎共阅欢迎共阅欢迎共阅大作业（二）凸轮机构设计题号：6班级：姓名：学号：同组者：成绩：完成时间：目录一凸轮机构题目要求 1二摆杆的运动规律及凸轮轮廓线方程 2三计算程序 3四运算结果及凸轮机构图 94.1第一组（A组）机构图及计算结果 94.2第二组（B组）机构图及计算结果 144.3第三组（C组）机构图及计算结果 19五心得体会 24第一组（A组） 24第二组（B组） 24第三组（C组） 24六参考资料 25附录程序框图 26一凸轮机构题目要求（摆动滚子推杆盘形凸轮机构）题目要求：试用计算机辅助设计完成下列偏置直动滚子推杆盘形凸轮机构或摆动滚子推杆盘形凸轮机构的设计，已知数据如下各表所示。凸轮沿逆时针方向作匀速转动。表一摆动滚子推杆盘形凸轮机构的已知参数题号初选的基圆半径R0/mm机架长度Loa/mm摆杆长度Lab/mm滚子半径Rr/mm推杆摆角φ许用压力角许用最小曲率半径[ρamin][α1][α2]A1560551024°35°70°0.3RrB2070651426°40°70°0.3RrC2272681828°45°65°0.35Rr要求：凸轮理论轮廓和实际轮廓的坐标值推程和回程的最大压力角，及凸轮对应的转角凸轮实际轮廓曲线的最小曲率半径及相应凸轮转角基圆半径绘制凸轮理论廓线和实际廓线7）计算点数：N：72～120推杆运动规律：1)推程运动规律：等加速等减速运动2)回程运动规律：余弦加速度运动二摆杆的运动规律及凸轮轮廓线方程推程：1，运动规律：等加速等减速运动；2，轮廓线方程：A：等加速推程段设定推程加速段边界条件为：在始点处δ=0，s=0，v=0。在终点处。整理得：（注意：δ的变化范围为0~δ0/2。）B：等减速推程段设定推程减速段边界条件为：在始点处在终点处，s=h，v=0。整理得：（注意：δ的变化范围为δ0/2~δ0）回程（1）运动规律：余弦加速度运动；（2）轮廓线方程：三计算程序（matlab）functionpushbutton1_Callback(hObject,eventdata,handles)%hObjecthandletopushbutton1(seeGCBO)%eventdatareserved-tobedefinedinafutureversionofMATLAB%handlesstructurewithhandlesanduserdata(seeGUIDATA)t1=0;t5=360;%输入disp('凸轮运动规律：近休；等加速等减速运动；远休；余弦加速度运动');r0=str2num(get(handles.edit1,'string'));%初选基圆半径L1=str2num(get(handles.edit2,'string'));%机架长度L2=str2num(get(handles.edit3,'string'));%摆杆长度Rr=str2num(get(handles.edit4,'string'));%滚子半径Q0=str2num(get(handles.edit5,'string'));%摆杆摆角a1=str2num(get(handles.edit6,'string'));a2=str2num(get(handles.edit7,'string'));ppk=str2num(get(handles.edit8,'string'));Pk=ppk*Rr;t2=str2num(get(handles.edit9,'string'));t3=str2num(get(handles.edit10,'string'));t4=str2num(get(handles.edit11,'string'));rm=str2num(get(handles.edit12,'string'));n=str2num(get(handles.edit12,'string'));fprintf('初选基圆半径R0=%d\n机架长度Loa=%d\n摆杆长度Lab=%d\n滚子半径Rr=%d\n推杆摆角ψ=%d\n推程许用压力角【a1】=%d°\n回程许用压力角【a2】=%d°\n许用最小曲率半径Pmin=%d\n',r0,L1,L2,Rr,Q0,a1,a2,Pk);fprintf('凸轮近休起始转角：%d°\n凸轮近休结束转角：%d°\n凸轮推程结束转角：%d°\n凸轮远休结束转角：%d°\n凸轮回程结束转角：%d°\n',t1,t2,t3,t4,t5);a1=a1*pi/180;a2=a2*pi/180;Q0=(Q0*pi)/180;x=zeros(1,n+1);y=zeros(1,n+1);xx=zeros(1,n+1);yy=zeros(1,n+1);W=2*pi/n;zx=zeros(1,n+1);zy=zeros(1,n+1);zxx=zeros(1,n+1);zyy=zeros(1,n+1);max=90;forR0=r0:rmQ01=acos((L1^2+L2^2-R0^2)/(2*L1*L2));%q01机架与摆杆夹角i=0;forth=(t1*pi/180):(2*pi/n):(t2*pi/180)i=i+1;x(i)=L1*sin(th)-L2*sin(th+Q01);y(i)=L1*cos(th)-L2*cos(th+Q01);xx(i)=(R0-Rr)/R0*x(i);yy(i)=(R0-Rr)/R0*y(i);endi=i-1;max1=0;th1=0;k=100;thk=0;t=t2;ifrem(t,360/n)>0i=i+1;endwhilerem(t,360/n)>0t=t+1;endforth=(t2*pi/180):(2*pi/n):(((t3-t2)/2+t2)*pi/180)i=i+1;Q=2*Q0*(th-t2*pi/180)^2/((t3-t2)*pi/180)^2;x(i)=L1*sin(th)-L2*sin(th+Q+Q01);y(i)=L1*cos(th)-L2*cos(th+Q+Q01);DX1=L1*cos(th)-L2*cos(th+64800*Q0*(th-1/180*t2*pi)^2/(t3-t2)^2/pi^2+Q01)*(1+129600*Q0*(th-1/180*t2*pi)/(t3-t2)^2/pi^2);%x轴角速度DY1=-L1*sin(th)+L2*sin(th+64800*Q0*(th-1/180*t2*pi)^2/(t3-t2)^2/pi^2+Q01)*(1+129600*Q0*(th-1/180*t2*pi)/(t3-t2)^2/pi^2);%y轴角速度ths1=DX1/sqrt(DX1^2+DY1^2);thc1=-DY1/sqrt(DX1^2+DY1^2);xx(i)=x(i)-Rr*thc1;yy(i)=y(i)-Rr*ths1;dQ1=129600*Q0*(th-1/180*t2*pi)/(t3-t2)^2/pi^2;%角速度a=atan((L2*abs(dQ1)-(L1*cos(Q01+Q)-L2))/(L1*sin(Q01+Q)));ifa>max1max1=a;th1=th;end%K1=subs(K1);K1=((L1*cos(th)-L2*cos(th+64800*Q0*(th-1/180*t2*pi)^2/(t3-t2)^2/pi^2+Q01)*(1+129600*Q0*(th-1/180*t2*pi)/(t3-t2)^2/pi^2))*(-L1*cos(th)+L2*cos(th+64800*Q0*(th-1/180*t2*pi)^2/(t3-t2)^2/pi^2+Q01)*(1+129600*Q0*(th-1/180*t2*pi)/(t3-t2)^2/pi^2)^2+129600*L2*sin(th+64800*Q0*(th-1/180*t2*pi)^2/(t3-t2)^2/pi^2+Q01)*Q0/(t3-t2)^2/pi^2)-(-L1*sin(th)+L2*sin(th+64800*Q0*(th-1/180*t2*pi)^2/(t3-t2)^2/pi^2+Q01)*(1+129600*Q0*(th-1/180*t2*pi)/(t3-t2)^2/pi^2)^2-129600*L2*cos(th+64800*Q0*(th-1/180*t2*pi)^2/(t3-t2)^2/pi^2+Q01)*Q0/(t3-t2)^2/pi^2)*(-L1*sin(th)+L2*sin(th+64800*Q0*(th-1/180*t2*pi)^2/(t3-t2)^2/pi^2+Q01)*(1+129600*Q0*(th-1/180*t2*pi)/(t3-t2)^2/pi^2)))/((L1*cos(th)-L2*cos(th+64800*Q0*(th-1/180*t2*pi)^2/(t3-t2)^2/pi^2+Q01)*(1+129600*Q0*(th-1/180*t2*pi)/(t3-t2)^2/pi^2))^2+(-L1*sin(th)+L2*sin(th+64800*Q0*(th-1/180*t2*pi)^2/(t3-t2)^2/pi^2+Q01)*(1+129600*Q0*(th-1/180*t2*pi)/(t3-t2)^2/pi^2))^2)^(3/2);kr=1/abs(K1);ifk>krk=kr;thk=th;endendi=i-1;t=round((t3-t2)/2+t2);if(t<(t3-t2)/2+t2)t=t+1;i=i+1;endif(t<(t3-t2)/2+t2||t>(t3-t2)/2+t2||rem(t,360/n)>0)i=i+1;endwhilerem(t,360/n)>0t=t+1;endforth=(t*pi/180):(2*pi/n):(t3*pi/180)i=i+1;Q=Q0-2*Q0*(t3*pi/180-th)^2/((t3-t2)*pi/180)^2;x(i)=L1*sin(th)-L2*sin(th+Q+Q01);y(i)=L1*cos(th)-L2*cos(th+Q+Q01);DX2=L1*cos(th)+L2*cos(-th-Q0+64800*Q0*(1/180*t3*pi-th)^2/(t3-t2)^2/pi^2-Q01)*(-1-129600*Q0*(1/180*t3*pi-th)/(t3-t2)^2/pi^2);DY2=-L1*sin(th)+L2*sin(-th-Q0+64800*Q0*(1/180*t3*pi-th)^2/(t3-t2)^2/pi^2-Q01)*(-1-129600*Q0*(1/180*t3*pi-th)/(t3-t2)^2/pi^2);ths2=DX2/sqrt(DX2^2+DY2^2);thc2=-DY2/sqrt(DX2^2+DY2^2);xx(i)=x(i)-Rr*thc2;yy(i)=y(i)-Rr*ths2;dQ2=129600*Q0*(1/180*t3*pi-th)/(t3-t2)^2/pi^2;a=atan((L2*abs(dQ2)-(L1*cos(Q01+Q)-L2))/(L1*sin(Q01+Q)));ifa>max1max1=a;th1=th;end%K2=subs(K2);K2=((L1*cos(th)+L2*cos(-th-Q0+64800*Q0*(1/180*t3*pi-th)^2/(t3-t2)^2/pi^2-Q01)*(-1-129600*Q0*(1/180*t3*pi-th)/(t3-t2)^2/pi^2))*(-L1*cos(th)+L2*cos(-th-Q0+64800*Q0*(1/180*t3*pi-th)^2/(t3-t2)^2/pi^2-Q01)*(-1-129600*Q0*(1/180*t3*pi-th)/(t3-t2)^2/pi^2)^2+129600*L2*sin(-th-Q0+64800*Q0*(1/180*t3*pi-th)^2/(t3-t2)^2/pi^2-Q01)*Q0/(t3-t2)^2/pi^2)-(-L1*sin(th)-L2*sin(-th-Q0+64800*Q0*(1/180*t3*pi-th)^2/(t3-t2)^2/pi^2-Q01)*(-1-129600*Q0*(1/180*t3*pi-th)/(t3-t2)^2/pi^2)^2+129600*L2*cos(-th-Q0+64800*Q0*(1/180*t3*pi-th)^2/(t3-t2)^2/pi^2-Q01)*Q0/(t3-t2)^2/pi^2)*(-L1*sin(th)+L2*sin(-th-Q0+64800*Q0*(1/180*t3*pi-th)^2/(t3-t2)^2/pi^2-Q01)*(-1-129600*Q0*(1/180*t3*pi-th)/(t3-t2)^2/pi^2)))/((L1*cos(th)+L2*cos(-th-Q0+64800*Q0*(1/180*t3*pi-th)^2/(t3-t2)^2/pi^2-Q01)*(-1-129600*Q0*(1/180*t3*pi-th)/(t3-t2)^2/pi^2))^2+(-L1*sin(th)+L2*sin(-th-Q0+64800*Q0*(1/180*t3*pi-th)^2/(t3-t2)^2/pi^2-Q01)*(-1-129600*Q0*(1/180*t3*pi-th)/(t3-t2)^2/pi^2))^2)^(3/2);kr=1/abs(K2);ifk>krk=kr;thk=th;endendifmax>max1||max<=a1max=max1;rh=sqrt(x(i)^2+y(i)^2);i=i-1;max2=0;th2=0;t=round(t3);whilerem(t,360/n)>0t=t-1;endforth=(t*pi/180):2*pi/n:(t4*pi/180)i=i+1;x(i)=L1*sin(th)-L2*sin(th+Q0+Q01);y(i)=L1*cos(th)-L2*cos(th+Q0+Q01);xx(i)=(rh-Rr)/rh*x(i);yy(i)=(rh-Rr)/rh*y(i);endi=i-1;t=round(t4);ifrem(t,360/n)>0i=i+1;endwhilerem(t,360/n)>0t=t+1;endforth=(t*pi/180):(2*pi/n):(t5*pi/180)i=i+1;Q=Q0*(1+cos(pi*(th-(t*pi/180))/(2*pi-t4*pi/180)))/2;Q1=-pi*(Q0)*sin(pi*(th-(t*pi/180))/(2*pi-t4*pi/180))/2/(2*pi-t4*pi/180);Q2=-pi^2*(Q0)*cos(pi*(th-(t*pi/180))/(2*pi-t4*pi/180))/2/(2*pi-t4*pi/180)^2;x(i)=L1*sin(th)-L2*sin(th+Q+Q01);y(i)=L1*cos(th)-L2*cos(th+Q+Q01);DX3=L1*cos(th)-L2*cos(th+Q+Q01)*(1+Q1);DY3=-L1*sin(th)+L2*sin(th+Q+Q01)*(1+Q1);ths3=DX3/sqrt(DX3^2+DY3^2);thc3=-DY3/sqrt(DX3^2+DY3^2);xx(i)=x(i)-Rr*thc3;yy(i)=y(i)-Rr*ths3;dQ3=Q1;a=atan((L2*abs(dQ3)+(L1*cos(Q01+Q)-L2))/(L1*sin(Q01+Q)));ifa>max2max2=a;th2=th;end%K3=subs(K3);K3=(DX3*(-L1*cos(th)+L2*cos(th+Q+Q01)*(1+Q1)^2+L2*sin(th+Q+Q01)*(Q2))-(-L1*sin(th)+L2*sin(th+Q+Q01)*(1+Q1)^2-L2*cos(th+Q+Q01)*(Q2))*(-L1*sin(th)+L2*sin(th+Q+Q01)*(1+Q1)))/((L1*cos(th)-L2*cos(th+Q+Q01)*(1+Q1))^2+(-L1*sin(th)+L2*sin(th+Q+Q01)*(1+Q1))^2)^(3/2);kr=1/abs(K3);ifk>krk=kr;thk=th;endendth1=th1*180/pi;th2=th2*180/pi;thk=thk*180/pi;d(1)=max1*180/pi;d(2)=th1;d(3)=max2*180/pi;d(4)=th2;d(5)=k;d(6)=thk;d(7)=R0;data(1,:)=x;data(2,:)=y;data(3,:)=xx;data(4,:)=yy;ifmax1>a1||max2>a2||(k-Rr)<Pk+R0continueelsebreak;endendend%绘图axes(handles.axes1);h=3;x=data(1,:);y=data(2,:);xx=data(3,:);yy=data(4,:);ro=d(7);whilehfork=1:nz=0:360;rx=x(k)+Rr*cos(z*pi/180);ry=y(k)+Rr*sin(z*pi/180);rox=ro*cos(z*pi/180);roy=ro*sin(z*pi/180);lx=[x(k)0];ly=[y(k)L1];lxx=[00];lyy=[L10];plot(x,y,rx,ry,lx,ly,xx,yy,rox,roy,'--',lxx,lyy,'--');axis([-100100-100100])axis('square')pause(0.01);drawnow;fori=1:n+1zx(i)=x(i)*cos(W)-y(i)*sin(W);zy(i)=x(i)*sin(W)+y(i)*cos(W);zxx(i)=xx(i)*cos(W)-yy(i)*sin(W);zyy(i)=xx(i)*sin(W)+yy(i)*cos(W);endx=zx;y=zy;xx=zxx;yy=zyy;endh=h-1;end%导出数据及结果disp('-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-');disp('——————————计算结果——————————');disp('-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-');ifmax>a1disp('无法满足条件，求出的结果为推程压力角最小时的解！');endfprintf('推程最大压力角=%f°\n对应转角=%f°\n回程最大压力角=%f°\n对应转角=%f°\n最小曲率半径Pmin=%f\n对应转角=%f°\n最后确定基圆半径=%f\n',d(1),d(2),d(3),d(4),d(5),d(6),d(7));disp('正在导出数据，请稍候……');title={'凸轮转角';'理论轮廓X';'理论轮廓Y';'实际轮廓X';'实际轮廓Y'};xlswrite('data.xls',title');dd=0:360/n:360;dd=[dd'data'];xlswrite('data.xls',dd,'A2:E362');disp('数据导出完毕，请查看当前目录下的data.xls文件');四运算结果及凸轮机构图4.1A组4.1.1交互界面图及凸轮机构图4.1.2轮廓线坐标凸轮转角理论轮廓X理论轮廓Y实际轮廓X实际轮廓Y0-24.716710.86667-15.56246.8419753-24.114112.14535-15.1837.647076-23.445413.39074-14.76198.4312059-22.712514.59942-14.30059.1922312-21.917315.7681-13.79989.9280615-21.06216.89355-13.261310.6366818-20.14917.9727-12.686411.3161421-19.180819.00258-12.076811.9645924-18.1619.98038-11.434112.5802427-17.089420.90342-10.7613.1614130-15.97221.76916-10.056413.7065133-14.810822.57524-9.325314.2140436-13.60923.31943-8.5686114.6826139-12.369923.99971-7.7884415.1109342-11.096924.61421-6.9869215.4978445-9.7934625.16124-6.1662515.8422648-8.463225.63931-5.3286816.1432751-7.1097426.0471-4.476516.4000354-5.736826.3835-3.6120616.6118357-4.3481326.64758-2.7377116.7781160-2.9475426.83863-1.8558616.898463-1.5390226.98491-0.5655217.032466-0.1204427.114760.72788617.15081691.31360327.227132.02576417.25252722.76857327.320133.32974117.33589754.24990627.391014.64175617.39869785.76290927.436125.96409117.43815817.31266627.450937.29937217.45094848.90392427.429978.65051417.433188710.5409827.3668510.0206417.38049012.2275727.2542711.4129617.287519313.9667427.0840512.8306217.14889615.7607226.8471714.2765316.957929917.610826.5337915.7532416.7078310219.5172226.1333617.2626916.3908210521.47925.6346918.806115.9985310823.4938925.0260420.3837915.5219711125.5581924.2952321.9950114.9515811427.6666723.429823.6377614.2773211729.8124822.4171525.3087213.4887612031.9870521.2447127.0030712.5752212334.1249419.8831728.3805211.6977212636.1545418.3199729.7104810.6731312938.0579116.5688630.976439.50821713239.8188914.6449532.163118.21151413541.4231912.5644433.256726.79307313842.858410.3444834.244985.26423114144.1148.00288935.11723.63738114445.181375.55803435.864361.92575514746.053753.02860336.479070726260.43344136.9556-1.6959515347.19575-2.2086137.28985-3.5771815647.46086-4.8788737.4793-5.4858715947.52185-7.5589537.523-7.4074716247.38056-10.230937.42144-9.3276816547.04034-12.877337.17653-11.232516846.50591-15.481536.79152-13.108617145.78331-18.027336.27087-14.942917444.87977-20.499735.62019-16.723417743.80362-22.884234.84614-18.438618042.56416-25.167733.95632-20.077918341.18866-27.360832.85899-21.827618639.70025-29.47931.67159-23.517418938.10304-31.516330.39738-25.142719236.40138-33.467329.03986-26.699119534.59995-35.326527.60273-28.182419832.70369-37.088926.08995-29.588320130.71779-38.749724.50567-30.913220428.64769-40.304222.85421-32.153420726.49907-41.748321.14011-33.305421024.27782-43.077919.36806-34.366221321.99002-44.289517.54293-35.332721619.64195-45.379615.66972-36.202421917.24005-46.345413.75356-36.972922214.79089-47.184211.7997-37.64222512.30119-47.89369.813492-38.2082289.77777-48.47187.800391-38.66922317.227552-48.91715.765909-39.02452344.657525-49.22833.715624-39.27282372.074731-49.40461.655154-39.4134240-0.51375-49.4455-0.40985-39.446243-3.10082-49.3508-2.47374-39.3705246-5.67939-49.1209-4.53084-39.1871249-8.2424-48.7563-6.57552-38.8963252-10.7828-48.2582-8.60218-38.4988255-13.2937-47.6277-10.6053-37.9958258-15.7681-46.8667-12.5793-37.3887261-18.1993-45.9772-14.5188-36.6791264-20.5806-44.9617-16.4186-35.869267-22.9055-43.823-18.2733-34.9606270-25.1677-42.5642-20.0779-33.9563273-27.31-41.1513-21.3987-33.0855276-29.2689-39.5616-22.5904-32.1186279-31.031-37.8161-23.6501-31.0691282-32.5865-35.9367-24.5775-29.9487285-33.929-33.9453-25.3742-28.767288-35.0557-31.8639-26.0427-27.5319291-35.9668-29.7139-26.5861-26.2494294-36.6656-27.5158-27.0073-24.9243297-37.1582-25.289-27.3086-23.561300-37.453-23.0519-27.4925-22.1642303-37.5607-20.8211-27.5611-20.739306-37.494-18.612-27.5171-19.2913309-37.267-16.4382-27.3641-17.8278312-36.8954-14.3114-27.1066-16.3559315-36.3956-12.242-26.7507-14.8829318-35.7852-10.238-26.3035-13.4157321-35.082-8.30604-25.7735-11.9601324-34.304-6.45055-25.1698-10.5207327-33.4693-4.67408-24.5021-9.10009330-32.5955-2.9772-23.7801-7.69831333-31.6996-1.35847-23.0132-6.31296336-30.79750.185579-22.2102-4.93874339-29.90411.660374-21.3795-3.56753342-29.03243.073282-20.5287-2.18861345-28.19364.433484-19.6659-0.78943348-27.39685.751814-18.80030.642967351-26.64857.040541-17.9432.119756354-25.95248.313074-17.10763.647389357-25.30939.583604-16.30935.224785360-24.716710.86667-15.56246.8419754.1.3计算初值及计算结果4.2B组4.2.1交互界面图及凸轮机构图4.2.2轮廓线坐标凸轮转角理论轮廓X理论轮廓Y实际轮廓X实际轮廓Y0-48.234126.42857-35.956319.70133-46.784928.91673-34.87621.556116-45.207431.32563-33.723.351839-43.505933.64867-32.431725.0835512-41.685335.87948-31.074526.7465215-39.750438.01195-29.632128.3361818-37.706540.04023-28.108529.8481721-35.559341.95876-26.507831.2783524-33.314643.76229-24.834532.622827-30.978645.44586-23.093133.8778330-28.557747.00488-21.288535.0433-26.058548.43505-19.425436.1061336-23.487949.73247-17.509237.073339-20.852950.89357-15.544937.9388542-18.160851.91518-13.53838.7004145-15.418952.7945-11.494139.355948-12.632753.5485-9.2449739.9645651-9.8037354.19405-6.9637240.4851454-6.933754.72824-4.6516340.9154857-4.0243355.1479-2.3101241.2532460-1.077655.449610.05922541.49585631.90426855.62972.45470541.64053664.91878155.684244.87440641.68431697.96311255.609077.31619541.624037211.0340655.399829.77767841.456317514.1280255.0519112.2561641.177617817.2408954.5606314.7486240.784258120.3681153.9210917.2516640.272378423.5045253.1283719.7614739.638018726.644452.1774422.2737938.877159029.781451.0633324.7838937.985689332.908549.7811127.2864936.959529636.0179948.3259629.775835.79469939.1014646.6932832.2454134.4869410242.1497244.8787134.6883333.0327210545.1528842.8782537.0969131.428310848.1002540.6883339.4628729.6703511150.9803938.3058541.7772827.7558411453.7811135.7283644.030525.6821911756.4894832.9540746.2122623.447312059.0918529.9819948.3116221.0496612361.5739126.8120150.3170118.4884212663.920723.4449952.2162215.7635112966.1070919.8846453.9383812.9620313268.0607716.1505255.4364510.0985313569.760112.2635656.745587.10390413871.194888.24426357.855663.99395414172.356684.11362258.758110.78511314473.23884-0.1070159.44587-2.5057114773.83649-4.3960759.91337-5.8612415074.14647-8.7319560.15658-9.2640315374.16734-13.093160.17295-12.696515673.89932-17.458259.9614-16.141215973.34426-21.806259.52227-19.580716272.50554-26.116658.85728-22.998116571.38805-30.369357.96949-26.376516869.99808-34.544956.86321-29.699817168.34326-38.624955.54398-32.952317466.4325-42.591454.01846-36.11917764.27583-46.427552.29437-39.185718061.88441-50.117450.38043-42.138718359.27036-53.645948.28624-44.965618656.44671-56.999446.02225-47.654418953.42726-60.165243.59962-50.194319250.22655-63.131541.03018-52.575619546.85973-65.888138.32633-54.789419843.34243-68.425735.50095-56.827820139.69074-70.736332.56732-58.68420435.92107-72.813229.53903-60.352520732.05006-74.650826.42993-61.828421028.09453-76.244823.254-63.108321324.06568-77.610719.9193-64.238821619.97087-78.763816.53-65.193321915.82132-79.701113.09539-65.96922211.6284-80.41999.624894-66.5642257.403615-80.91836.128013-66.97652283.158534-81.19482.614336-67.2054231-1.0952-81.2489-0.90651-67.2501234-5.34594-81.0802-4.42487-67.1105237-9.58203-80.6893-7.9311-66.787240-13.7918-80.0772-11.4156-66.2804243-17.963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