机械原理大作业-牛头刨床

机械原理大作业——牛头刨床大作业，一，平面连杆机构的运动分析题号:6班级:姓名:学号:同组者:成绩:完成时间:目录题目、原始数据及要求............................................................................................1一平面连杆机构运动分析方程...............................................................................11.1速度计算公式......................................................................................21.2加速度计算公式...................................................................................2二程序.....................................................................................................................32.1计算程序框图..........................................................................................32.2计算源程序..............................................................................................4三3.1(一组数据Lab=200mm)计算结果...................................................93.2运动线图....................................................................................................103.3体会.........................................................................................................12四4.1(第二组数据Lab=150mm)计算结果....................................................124.2运动线图...............................................................................................134.3体会.........................................................................................................15五5.1(第三组数据Lab=220mm)计算结果....................................................165.2运动线图...................................................................................................175.3体会...........................................................................................................21六参考资料......................................................................................................21题目、原始数据及要求:图所示为一牛头刨床(?级机构)。设已知各构件的尺寸如下所示，又如原动件1(AB杆)以角速度ψ1=1rad/s沿逆时针方向回转，试求各从动件的位移、角速度及角加速度以及刨头C点的位移、速度及加速度的变化情况。第六组数据(6-A，6-B，6-C):Lcd=960mm，Lde=160mm，h=900mm，h1=460mm，h2=120mmA:Lab=200mmB:Lab=150mmC:Lab=220mm要求:每组至少打印一份源程序，每个同学计算出原动件从0?到360?时(计算点数N=36)所要求各运动变量的大小，并绘制出各组相应的运动线图。一平面连杆机构运动分析方程:先建立一直角坐标系。其中共有四个未知量θ3、θ4、S3及Sc。为求解需要建立两个封闭矢量方程，为此需利用两个封闭图形ABCA及CDEGC，由此可得L4+L3=Le+Sc;La’+L1=S3+L4并写成投影方程为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四个运动变量，而滑块2的方位角由以上各式即可求得θ3θ2=θ3。然后，分别将上列各式对时间取一次、二次导数，并写成矩阵形式，即得以下速度和加速度方程式速度计算公式:-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,,,,,，，，，，，加速度计算-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计算程序框图:开始读入LabLcdLdehh1h2w1计算θ3、θ4、S3及Sc计算w3、w4、Vc计算α3α4αc输出θ3θ4S3Scw3、w4Vcα3α4αc结束2.2计算源程序:(1)数据输入程序使用Matlabguide设计的界面输入原始数据，使数据输入方便，变化灵活，结:disp('牛头刨床(?级机构):');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计算点数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={'转角';'杆CD转角';'杆DE转角';'C点位移';'杆CD角速度';'杆DE角速度';'C点速度';'杆CD加速度';'杆DE加速度';'C点加速度'};xlswrite('data.xls',title');xlswrite('data.xls',data,'A2:J38');disp('计算点的运动量在当前文件夹下data.xls文件内');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)画运动线图源程序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杆角度θ3','Color','b');line(x,y2,'Color','k');text(x(1,16),y2(1,16),'ED杆角度θ4')set(get(h_ap,'Xlabel'),'String','AB杆角度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点行程Sc','Color','r','Parent',h_at)set(get(h_at,'Xlabel'),'String','AB杆角度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杆角速度W3','Color','b');line(x,y2,'Color','k');text(x(1,16),y2(1,16),'ED杆角速度W4'))')set(get(h_ap,'Xlabel'),'String','AB杆角度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点速度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杆角度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杆角加速度α3','Color','b');line(x,y2,'Color','k');text(x(1,16),y2(1,16),'DE杆角加速度α4')set(get(h_ap,'Xlabel'),'String','AB杆角度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点加速度ac','Color','r','Parent',h_at))')set(get(h_at,'Xlabel'),'String','AB杆角度θ1/(?set(get(h_at,'Ylabel'),'String','ac/(rad/s^{2})')tytick=-1200:(2400/ny):1200;set(h_at,'Xtick',pxtick,'Ytick',tytick)(4)画运动示意图源程序%画运动示意图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(一组数据Lab=200mm)计算结果: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运动线图(用坐标纸分别会出各从动件的角位移线图、角速度线图及角加速度线图和E点的轨迹曲线，并作必要分析，说明其变化情况):1:CD杆角度、ED杆角度、C点行程随AB杆角度的变化(AB最初位置水平向右，且逆时针旋转)2:CD杆角速度、ED杆加速度和C点速度随AB杆角度的变化(AB最初位置水平向右，且逆时针旋转)3:CD杆角加速度、ED杆角加速度和C点加速度随AB杆角度变化(AB最初位置水平向右，且逆时针旋转)3.3体会:机械原理大作业终于结束了。在这次课程实践中，我受益匪浅～大概可以分为以下几点:首先，我们还处于大三，知识的疏浅让我们在做大作业过程中有点捉襟见肘了，感觉到了知识用时方很少的尴尬，所以，我们以后要努力学习好其他专业课程，提高自己处理专业问题的能力。其次，这次的课程实践中，我们是三个人一组的，这种实践模式让我深刻体会到了人与人之间的互相协调合作的精神，提高了我的团队协作能力，为我将来更好地步入社会奠定了基础。再次，课程设计不但使我对课本的知识和内容有了更深刻的理解，而且使我更进一步掌握了MATLAB。在课程设计过程中我自学了MATLAB的有关知识，特别是MATLAB中guide的知识，让我了解到MATLAB的灵活性，使我受益匪浅。课程设计不但培养了我们分析问题解决问题的能力，加强了我们对知识的了解和运用，提高了我们的实践能力，拓宽了我们的视野，更重要的是使我们对本专业有了进一步的了解，增强了我们面对未来和困难的信心。在实践中学习，在快乐中学习，能够解决问题无疑是很有成就感的一件事，希待学校多采取类似的教学方法～四4.1(第二组数据Lab=150mm计算结果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运动线图(用坐标纸分别会出各从动件的角位移线图、角速度线图及角加速度线图和E点的轨迹曲线，并作必要分析，说明其变化情况):1:CD杆角度、ED杆角度、C点行程随AB杆角度的变化(AB最初位置水平向右，且逆时针旋转)2:CD杆角速度、ED杆加速度和C点速度随AB杆角度的变化(AB最初位置水平向右，且逆时针旋转)3:CD杆角加速度、ED杆角加速度和C点加速度随AB杆角度变化(AB最初位置水平向右，且逆时针旋转)4.3体会在机械原理课程设计过程中我收获非常大，从开始设计、策划、写程序到最后调试，期间遇到了无数难题，为了解决各种问题我们不得不花费很多时间在图书馆，课本和网上去找资料，去接触和学习很多以前不了解的知识。同学之间的讨论是必不可少的，从中更吸取好多相当不错的思想和方法，领略到了别人在处理专业技能问题时的优秀想法,更深切的体会到人与人之间的那种相互协调合作的机制,最重要的还是自己对一些问题的看法产生了良性的变化。我们努力完成作业后的喜悦和成就感让我们发现实践对我们真的很重要，尤其是对于我们大学生，所以，我们在掌握了理论知识之后，还要学会把理论应用于实践，在实践中检验真理。希望学校多采取类似的实践性强的教学活动。五5.1(第三组数据h2=130mm)计算结果: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