机械毕业设计76六杆机构—机械原理课程设计

Page 1 一、题目：计算平面连杆机构的运动学分析 . 2 二、平面连杆机构的运动分析方程 . 2 三、程序流程图 . 5 四、计算源程序 . 6 五、计算结果数据 . 12 六、运动线图及分析 . 228 七、体会及建议 . 327 八、参考书 . 327 Page 2 一、题目：计算平面连杆机构的运动学分析 1，图 a所示的为一平面六杆机构。假设已知各构件的尺寸如表 1所示，原动件 1以等角速度 1=1rad/s沿着逆时针方向回转，试求各从动杆件的角位移、角速度和角加速度以及 E点的位移、速度和加速度的变化情况。 A1B2C34DA2G65EFyx11a) 表 1 平面六杆机构的尺寸参数 (单位 :mm) L2=65.0， Xg=153.6， Yg=41.7 L1 L2 L3 L4 L5 L6 A B C 105.6 67.5 87.5 34.4 25 60 L1=26.5 L1=24 L1=29.5 二、平面连杆机构的运动分析方程 1）位置分析 建立封闭矢量多边形 l1+l2= l4+l3 （即 AB+BC=AD+DC） l1+l2+ l2= AG+l5+l6 （即 AB+BC+CE=AG+GF+FE） （式 1） 将机构的封闭矢量方程式（ 1）写成在两坐标上的投影式 ： 1 * c o s 1 2 * c o s 2 4 3 * c o s 31 * s i n 1 2 * s i n 2 3 * s i n 31 * c o s 1 2 * c o s 2 2 * c o s ( 2 ) 5 * c o s 5 6 * c o s 61 * s i n 1 2 * s i n 2 2 * s i n ( 2 ) 5 * s i n 5 6 * s i n 6l l l ll l ll l l x g l ll l l y g l lq q qq q qq q q q qq q q q q+ = + +=+ + - a = + + + + - a = + + 化简整理成 方程左边仅含未知量项的形式，即得 ： 2 * c o s 2 3 * c o s 3 4 1 * c o s 1 (1 )2 * s i n 2 3 * s i n 3 1 * s i n 1 ( 2 )2 * c o s 2 2 * c o s ( 2 ) 5 * c o s 5 6 * c o s 6 1 * c o s 1 ( 3 )2 * s i n 2 2 * s i n ( 2 ) 5 * s i n 5 6 * s i n 6 1 * s i n 1 ( 4 )l l l ll l ll l l l x g ll l l l y g lq q qq q qq q q q qq q q q q- = - = -+ - a - - = -+ - a - - = - （式 2） 在求解（式 2）中各变量时，用牛顿迭代法会比较直观，但 由于牛顿迭代法不便于限制 l5，l6 的位置 ，在有两种位置均满足上式时，无法限定它得出题中要求的解 。故在计算时 改 用 了 Page 3 复 数矢量法直接求解 2, 3, 5, 6。 求 2 ， 3 ； （式 2）中 由 （ 1）（ 2）消去 2 得 2 2 2 22 3 4 1 2 * 3 * 4 * c o s 3 2 * 1 * 3 * c o s ( 3 1 ) 2 * 1 * 4 * c o s 1l l l l l l l l l lq q q q= + + - - - - 经整理后并可简化为 * s i n 3 * c o s 3 0A B Cqq+ + = 式中 ：2 2 2 22 * 1 * 3 * s i n 12 * 3 * ( 1 * c o s 1 4 )2 1 3 4 2 * 1 * 4 * c o s 1A l lB l l lC l l l l l lqqq=-= - - - +解之可得 2 2 2t a n ( 3 / 2 ) ( ) / ( )A A B C B Cq = ? - - 实际运动中 03qp #include #include #define PI 3.1415926 #define N 4 void Solutionangle(double 18,double ); /*矢量法求角位移 */ void Solutionspeed(double NN,double N,double 18,double ); /*角速度求解 */ void Solutionacceleration(double NN,double NN,double N,double 18);/*角加速度求解*/ void GaussianE(double NN,double N,double N);/*高斯消去 */ void FoundmatrixA(double 18,double NN); /创建系数矩阵 A void FoundmatrixB(double 18,double ,double N);/创建系数矩阵 B void FoundmatrixDA(double 18,double NN);/创建矩阵 DA void FoundmatrixDB(double 18,double ,double N);/创建矩阵 DB /定义全局变量 Page 6 double l1=24.0,l2=105.6,l3=67.5,l4=87.5,l5=34.4,l6=25.0; double l2g=65.0,xg=153.5,yg=41.7,inang=60*PI/180,as1=1.0; /主函数 void main() int i,j; FILE *fp; double shuju3618; double psvalue18,aNN,daNN,bN,dbN,ang1; printf(Please enter the L1:); scanf(%lf,&l1); /建立文件，并制表头 if(fp=fopen(shuju,w)=NULL) printf(Cannt open this file.n); exit(0); fprintf(fp,n L1 =%lf,l1); fprintf(fp, ang2 ang3 ang5 ang6); fprintf(fp, as2 as3 as5 as6); fprintf(fp, aas2 aas3 aas5 aas6); fprintf(fp, xe ye vex vey aex aeyn); /计算数据并写入文件 for(i=0;i0 & (shujuij-shujui-1j)180) /使数据连贯 shujuij-=360; Page 7 for(j=4;j2*PI) valuei-=2*PI; while(valueia4g11) for(j=0;ja4g33) for(j=0;jN;j+) t=a4g2j;a4g2j=a4g3j;a4g3j=t; t=b4g2;b4g2=b4g1;b4g3=t; /初等行变换 for(j=0;jN;j+) for(i=0;iN;i+) if(i!=j) for(k=0;kN;k+) Page 10 if(k!=j) a4gik-=a4gij/a4gjj*a4gjk; b4gi-=b4gj*a4gij/a4gjj; a4gij=0; for(i=0;iN;i+) b4gi/=a4gii; p40=b4g0; p41=b4g1; p42=b4g2; p43=b4g3; /创建系数矩阵 A void FoundmatrixA(double value518,double a5NN) double ang2,ang3,ang5,ang6; ang2=value50;ang3=value51;ang5=value52;ang6=value53; a500=-l2*sin(ang2);a501=l3*sin(ang3); a510=l2*cos(ang2);a511=-l3*cos(ang3); a520=-l2*sin(ang2)-l2g*sin(ang2-inang); a522=l5*sin(ang5);a523=l6*sin(ang6); a530=l2*cos(ang2)+l2g*cos(ang2-inang); a532=-l5*cos(ang5);a533=-l6*cos(ang6); a502=a503=a512=a513=a521=a531=0; /创建系数矩阵 B void FoundmatrixB(double value618,double ang1,double b6N) b60=b62=l1*sin(ang1)*as1; b61=b63=-l1*cos(ang1)*as1; /创建矩阵 DA void FoundmatrixDA(double value718,double da7NN) double ang2,ang3,ang5,ang6,as2,as3,as5,as6; ang2=value70;ang3=value71;ang5=value72;ang6=value73; as2=value74;as3=value75;as5=value76;as6=value77; da700=-l2*as2*cos(ang2);da701=l3*as3*cos(ang3); da710=-l2*as2*sin(ang2);da711=l3*as3*sin(ang3); da720=as2*(-l2*cos(ang2)-l2g*cos(ang2-inang); da722=as5*l5*cos(ang5);da723=as6*l6*cos(ang6); da730=as2*(-l2*sin(ang2)-l2g*sin(ang2-inang); da732=as5*l5*sin(ang5);da733=as6*l6*sin(ang6); Page 11 da702=da703=da712=da713=da721=da731=0; /创建矩阵 DB void FoundmatrixDB(double value818,double ang1,double db8N) db80=db82=l1*as1*cos(ang1); db81=db83=l1*as1*sin(ang1); 五、计算结果数据 A 组 ang1 ang2 ang3 ang5 ang6 as2 as3 as5 as6 0 36.799 69.573 302.463 92.665 -0.434 -0.434 -3.708 -4.964 10 32.709 66.003 286.5 67.799 -0.379 -0.276 -2.489 -3.795 20 29.278 64.073 277.175 52.863 -0.306 -0.111 -1.888 -3.062 30 26.597 63.731 270.383 44.249 -0.231 0.039 -1.644 -2.635 40 24.636 64.755 264.248 39.673 -0.163 0.161 -1.603 -2.435 50 23.301 66.865 257.841 37.316 -0.106 0.256 -1.689 -2.429 60 22.49 69.79 250.48 35.42 -0.05 0.325 -1.87 -2.60 Page 12 1 8 1 7 70 22.113 73.301 241.272 31.876 -0.019 0.374 -2.118 -2.953 80 22.099 77.209 228.851 23.825 0.015 0.405 -2.303 -3.324 90 22.396 81.365 212.265 8.594 0.044 0.424 -2.115 -3.295 100 22.968 85.644 193.797 -12.328 0.07 0.431 -1.472 -2.654 110 23.79 89.946 178.11 -33.319 0.094 0.428 -0.845 -1.912 120 24.846 94.183 167.251 -50.884 0.117 0.418 -0.857 -1.56 130 26.123 98.28 160.521 -64.721 0.139 0.4 -0.513 -1.221 140 27.615 102.17 156.563 -75.588 0.16 0.377 -0.298 -0.965 150 29.314 105.794 154.233 -84.247 0.18 0.347 -0.182 -0.776 160 31.211 109.099 152.704 -91.262 0.199 0.313 -0.134 -0.634 170 33.293 112.039 151.401 -97.032 0.217 0.274 -0.134 -0.525 180 35.542 114.577 149.925 -101.861 0.232 0.232 -0.166 -0.445 190 37.932 116.679 148.01 -106.004 0.245 0.188 -0.22 -0.388 200 40.431 118.319 145.494 -109.7 0.254 0.14 -0.285 -0.355 210 42.996 119.475 142.298 -113.173 0.258 0.091 -0.355 -0.343 220 45.574 120.129 138.407 -116.625 0.256 0.04 -0.423 -0.35 230 48.103 120.26 133.85 -120.211 0.248 -0.014 -0.487 -0.369 240 50.51 119.848 128.684 -124.01 0.232 -0.069 -0.545 -0.391 250 52.711 118.867 122.962 -128.014 0.207 -0.128 -0.599 -0.408 260 54.609 117.285 116.716 -132.116 0.171 -0.189 -0.651 -0.41 270 56.095 115.063 109.921 -136.135 0.124 -0.256 -0.709 -0.391 280 57.04 112.15 102.48 -139.85 0.064 -0.32 -0.78 -0.34 Page 13 8 9 4 2 6 1 9 290 57.34 108.528 94.227 -143.068 -0.008 -0.401 -0.874 -0.292 300 56.841 104.141 84.895 -145.693 -0.093 -0.477 -0.998 -0.235 310 55.443 99.006 74.133 -147.897 -0.188 -0.549 -1.164 -0.217 320 53.084 93.203 61.308 -150.504 -0.284 -0.608 -1.426 -0.346 330 49.797 86.931 44.511 -156.605 -0.371 -0.64 -2.045 -1.052 340 45.755 80.55 15.94 -178.722 -0.432 -0.627 -3.914 -3.812 350 41.281 74.575 -27.282 -226.975 -0.455 -0.558 -3.977 -4.898 A2 组 ang1 aas2 aas3 aas5 aas6 xe ye ve ae 0 0.232 0.833 -0.707 -7.337 170.802 37.648 39.7122 67.81402 10 0.386 0.953 3.292 -1.312 172.717 31.863 30.025 75.04383 20 0.437 0.918 3.809 1.002 172.89 27.499 20.6508 71.34835 30 0.415 0.785 3.529 1.836 171.638 24.745 15.5441 59.59839 40 0.359 0.621 3.34 2.232 169.295 23.433 16.482 45.01181 50 0.299 0.465 3.508 2.7 166.137 23.227 20.0321 31.21475 60 0.248 0.333 4.233 3.655 162.38 23.766 23.3576 19.74525 70 0.207 0.226 5.889 5.741 158.195 24.736 25.689 10.88359 80 0.178 0.14 8.719 9.694 153.734 25.896 26.9713 4.615676 90 0.157 0.07 10.148 12.954 149.131 27.072 27.3234 3.132887 100 0.143 0.012 6.288 9.681 144.516 28.158 26.8844 6.001681 Page 14 110 0.133 -0.038 1.887 4.451 140.009 29.102 25.7789 8.77849 120 0.127 -0.081 2.386 2.175 135.72 29.894 24.1205 11.11173 130 0.123 -0.119 1.574 1.697 131.744 30.565 22.0173 13.10611 140 0.119 -0.153 0.917 1.254 128.16 31.169 19.5894 14.83957 150 0.114 -0.183 0.448 0.934 125.027 31.78 16.9884 16.32279 160 0.106 -0.209 0.121 0.708 122.38 32.481 14.4263 17.51135 170 0.096 -0.231 -0.105 0.537 120.237 33.355 12.2186 18.3357 180 0.082 -0.25 -0.256 0.392 118.593 34.473 10.7913 18.72613 190 0.062 -0.265 -0.348 0.256 117.431 35.893 10.5275 18.63769 200 0.038 -0.277 -0.393 0.126 116.725 37.651 11.4147 18.07577 210 0.008 -0.288 -0.4 0.01 116.445 39.754 13.0341 17.11934 220 -0.027 -0.299 -0.382 -0.08 116.569 42.187 14.9204 15.96623 230 -0.069 -0.311 -0.35 -0.127 117.089 44.903 16.7615 15.02 240 -0.118 -0.326 -0.317 -0.121 118.016 47.829 18.3921 14.98325 250 -0.173 -0.344 -0.298 -0.06 119.387 50.866 19.7742 16.69316 260 -0.235 -0.366 -0.31 0.045 121.269 53.883 20.9973 20.60356 270 -0.305 -0.391 -0.365 0.174 123.755 56.717 22.302 26.57647 280 -0.379 -0.417 -0.466 0.292 126.955 59.168 24.0912 34.15089 290 -0.454 -0.435 -0.612 0.35 130.981 60.985 26.8497 42.62384 300 -0.518 -0.432 -0.81 0.268 135.91 61.873 30.9167 50.8505 310 -0.555 -0.389 -1.14 -0.151 141.728 61.503 36.1998 57.04043 320 -0.538 -0.276 -2.049 -1.643 148.256 59.567 41.9589 58.95638 Page 15 330 -0.441 -0.07 -6.064 -8.026 155.086 55.889 46.7802 55.50107 340 -0.252 0.229 -12.674 -20.776 161.584 50.589 48.8223 50.89729 350 -0.004 0.564 10.415 7.935 167.016 44.209 46.5385 55.42417 B 组 ang1 ang2 ang3 ang5 ang6 as2 as3 as5 as6 0 37.587 72.605 312.318 110.829 -0.378 -0.378 -4.453 -5.488 10 33.992 69.454 292.363 83.064 -0.337 -0.249 -3.106 -4.228 20 30.894 67.648 280.786 66.361 -0.281 -0.112 -2.374 -3.422 30 28.394 67.178 272.806 56.344 -0.219 0.016 -2.041 -2.964 40 26.498 67.903 266.143 50.484 -0.161 0.126 -1.946 -2.756 50 25.155 69.615 259.605 46.954 -0.109 0.213 -2.008 -2.758 60 24.295 72.099 252.32 44.019 -0.064 0.28 -2.195 -2.965 70 23.848 75.156 243.201 39.515 -0.026 0.329 -2.471 -3.358 80 23.754 78.618 230.595 30.321 0.007 0.361 -2.672 -3.753 90 23.968 82.343 213.323 13.559 0.036 0.382 -2.396 -3.604 100 24.456 86.213 194.072 -8.673 0.061 0.391 -1.62 -2.773 110 25.191 90.129 177.843 -30.264 0.085 0.391 -0.931 -1.939 120 26.156 94.005 166.525 -48.009 0.108 0.383 -0.904 -1.568 130 27.338 97.766 159.316 -61.88 0.129 0.368 -0.562 -1.222 140 28.72 101.34 154.86 -72.743 0.149 0.347 -0.34 -0.96 Page 16 6 8 5 7 4 150 30.309 104.691 152.063 -81.399 0.168 0.321 -0.227 -0.776 160 32.077 107.746 150.115 -88.432 0.185 0.289 -0.172 -0.637 170 34.013 110.467 148.469 -94.252 0.201 0.254 -0.163 -0.532 180 36.099 112.817 146.745 -99.167 0.215 0.215 -0.186 -0.455 190 38.309 114.762 144.685 -103.428 0.226 0.173 -0.229 -0.401 200 40.608 116.277 142.129 -107.255 0.233 0.129 -0.284 -0.368 210 42.957 117.339 138.989 -110.845 0.236 0.083 -0.345 -0.353 220 45.305 117.926 135.237 -114.366 0.233 0.034 -0.406 -0.353 230 47.593 118.021 130.883 -117.94 0.224 -0.016 -0.464 -0.363 240 49.754 117.602 125.964 -121.626 0.207 -0.068 -0.519 -0.374 250 51.709 116.647 120.518 -125.406 0.182 -0.123 -0.57 -0.38 260 53.372 115.129 114.568 -129.188 0.148 -0.181 -0.62 -0.373 270 54.645 113.019 108.101 -132.815 0.104 -0.242 -0.674 -0.349 280 55.424 110.287 101.057 -136.101 0.05 -0.305 -0.737 -0.305 290 55.602 106.91 93.326 -138.867 -0.016 -0.37 -0.812 -0.246 300 55.079 102.882 84.761 -141.005 -0.09 -0.435 -0.904 -0.182 310 53.776 98.236 75.185 -142.556 -0.171 -0.493 -1.015 -0.134 320 51.663 93.068 64.327 -143.913 -0.251 -0.537 -1.167 -0.158 330 48.787 87.572 51.336 -146.604 -0.322 -0.557 -1.49 -0.476 340 45.3 82.054 30.838 -158.958 -0.371 -0.54 -3.036 -2.627 350 41.459 76.921 -11.492 -204.165 -0.391 -0.479 -4.538 -5.328 Page 17 B2 组 ang1 aas2 aas3 aas5 aas6 xe ye ve ae 0 0.163 0.677 -4.676 -11.1 167.77 39.63 33.8339 54.0189 10 0.29 0.78 1.546 -3.301 169.608 34.704 26.3365 60.1739 20 0.348 0.773 3.334 0.045 169.962 30.81 18.9152 58.9206 30 0.349 0.687 3.658 1.464 169.04 28.151 14.4546 51.3746 40 0.318 0.566 3.77 2.235 167.093 26.664 14.6995 40.7494 50 0.276 0.441 4.154 3.014 164.357 26.135 17.5591 29.7894 60 0.236 0.327 5.174 4.364 161.03 26.297 20.5726 20.0023 70 0.202 0.231 7.438 7.211 157.277 26.902 22.8488 11.9133 80 0.176 0.15 11.372 12.608 153.243 27.741 24.2206 5.52535 90 0.156 0.082 12.997 16.378 149.059 28.663 24.7406 1.18387 100 0.142 0.025 7.529 11.201 144.846 29.566 24.5141 3.75046 110 0.132 -0.023 2.219 4.787 140.717 30.395 23.6515 6.80171 120 0.124 -0.066 2.369 2.25 136.772 31.135 22.2605 9.32374 130 0.118 -0.103 1.565 1.716 133.1 31.802 20.4453 11.4378 140 0.112 -0.137 0.929 1.253 129.774 32.437 18.3246 13.2242 150 0.106 -0.166 0.478 0.922 126.848 33.098 16.0413 14.7093 160 0.097 -0.191 0.165 0.69 124.359 33.85 13.7887 15.8758 170 0.086 -0.213 -0.051 0.516 122.325 34.758 11.8355 16.6799 Page 18 180 0.071 -0.232 -0.197 0.373 120.751 35.883 10.5301 17.081 190 0.052 -0.247 -0.288 0.248 119.624 37.269 10.1785 17.0552 200 0.029 -0.26 -0.337 0.134 118.929 38.943 10.8015 16.626 210 0 -0.271 -0.353 0.037 118.646 40.91 12.0932 15.8766 220 -0.034 -0.282 -0.346 -0.033 118.761 43.151 13.6702 15.0066 230 -0.073 -0.294 -0.324 -0.068 119.271 45.622 15.2544 14.3882 240 -0.117 -0.307 -0.301 -0.058 120.189 48.256 16.6967 14.6044 250 -0.167 -0.322 -0.287 -0.004 121.547 50.958 17.9642 16.2741 260 -0.223 -0.339 -0.294 0.087 123.401 53.609 19.1367 19.6792 270 -0.283 -0.356 -0.329 0.196 125.821 56.059 20.4251 24.6446 280 -0.344 -0.371 -0.392 0.301 128.889 58.127 22.1483 30.7052 290 -0.403 -0.375 -0.477 0.367 132.675 59.597 24.6489 37.1573 300 -0.449 -0.358 -0.577 0.35 137.211 60.225 28.1076 42.9642 310 -0.468 -0.303 -0.717 0.152 142.447 59.757 32.3465 46.7162 320 -0.442 -0.194 -1.103 -0.578 148.2 57.979 36.714 46.9848 330 -0.356 -0.017 -3.275 -4.054 154.119 54.8 40.1191 43.6816 340 -0.206 0.219 -17.505 -25.267 159.704 50.358 41.2761 40.6875 350 -0.017 0.472 7.528 4.828 164.401 45.081 39.2026 44.7014 C 组 ang ang2 ang3 ang5 ang6 as2 as3 as5 as6 Page 19 1 0 35.608 65.628 294.956 74.839 -0.509 -0.509 -3.005 -4.614 10 30.892 61.536 282.506 51.647 -0.429 -0.306 -1.904 -3.494 20 27.085 59.519 275.203 38.052 -0.331 -0.101 -1.425 -2.788 30 24.247 59.428 269.382 30.892 -0.238 0.076 -1.274 -2.364 40 22.271 60.907 263.543 27.879 -0.16 0.213 -1.293 -2.162 50 21.001 63.567 257.057 27.036 -0.097 0.313 -1.412 -2.152 60 20.29 67.071 249.45 26.484 -0.047 0.383 -1.604 -2.322 70 20.025 71.153 239.993 24.105 -0.007 0.43 -1.84 -2.649 80 20.123 75.609 227.532 17.177 0.026 0.459 -2.017 -3.016 90 20.529 80.282 211.307 3.179 0.055 0.474 -1.875 -3.063 100 21.205 85.047 193.438 -16.696 0.08 0.478 -1.316 -2.552 110 22.129 89.803 178.347 -37.144 0.104 0.472 -0.738 -1.884 120 23.287 94.463 168.101 -54.508 0.127 0.459 -0.794 -1.55 130 24.672 98.951 162.022 -68.287 0.15 0.438 -0.447 -1.219 140 26.28 103.2 158.718 -79.151 0.172 0.411 -0.234 -0.966 150 28.107 107.15 157.003 -87.817 0.194 0.378 -0.123 -0.776 160 30.148 110.74 156.017 -94.818 0.215 0.34 -0.084 -0.63 170 32.393 113.94 155.155 -100.529 0.234 0.298 -0.095 -0.517 180 34.828 116.69 153.995 -105.24 0.252 0.252 -0.141 -0.43 190 37.427 118.97 152.259 -109.208 0.267 0.204 -0.209 -0.368 200 40.157 120.75 149.788 -112.693 0.278 0.153 -0.287 -0.333 210 42.97 122.0 146.51 -115.95 0.284 0.1 -0.36 -0.32 Page 20 4 2 4 8 8 4 220 45.824 122.74 142.446 -119.254 0.285 0.046 -0.445 -0.338 230 48.64 122.92 137.642 -122.783 0.277 -0.011 -0.514 -0.369 240 51.344 122.52 132.188 -126.659 0.262 -0.069 -0.575 -0.406 250 53.844 121.52 126.163 -130.883 0.236 -0.131 -0.629 -0.437 260 56.034 119.88 119.612 -135.337 0.2 -0.198 -0.682 -0.45 270 57.791 117.54 112.506 -139.8 0.15 -0.27 -0.742 -0.438 280 58.975 114.46 104.709 -144.002 0.085 -0.348 -0.822 -0.398 290 59.43 110.56 95.965 -147.699 0.003 -0.434 -0.933 -0.339 300 58.99 105.77 85.889 -150.795 -0.094 -0.525 -1.091 -0.284 310 57.498 100.06 73.92 -153.562 -0.206 -0.616 -1.318 -0.288 320 54.845 93.48 59.042 -157.258 -0.325 -0.697 -1.698 -0.515 330 51.031 86.212 38.354 -166.522 -0.435 -0.749 -2.591 -1.589 340 46.246 78.679 3.167 -196.576 -0.515 -0.746 -4.456 -4.618 350 40.91 71.554 -39.703 -247.213 -0.542 -0.666 -3.515 -4.7 C2 组 ang1 aas2 aas3 aas5 aas6 xe ye ve ae 0 0.348 1.071 2.513 -4.673 174.553 34.642 47.6541 89.2774 10 0.535 1.209 4.504 0.162 176.462 27.721 34.5136 97.4354 20 0.563 1.113 3.926 1.709 176.306 22.851 22.3113 88.4534 Page 21 30 0.496 0.901 3.174 2.067 174.582 20.138 16.7476 69.4079 40 0.403 0.674 2.79 2.142 171.73 19.208 18.9618 48.9718 50 0.319 0.48 2.839 2.357 168.063 19.538 23.3365 31.6264 60 0.254 0.328 3.398 3.027 163.801 20.638 26.9093 18.5022 70 0.207 0.212 4.71 4.637 159.116 22.121 29.1878 9.47318 80 0.175 0.123 6.924 7.757 154.159 23.708 30.2787 5.19375 90 0.154 0.052 8.161 10.622 149.07 25.211 30.3761 6.47667 100 0.141 -0.006 5.238 8.443 143.988 26.523 29.6516 9.14548 110 0.134 -0.056 1.537 4.109 139.042 27.597 28.2406 11.4957 120 0.13 -0.099 2.41 2.098 134.354 28.438 26.2565 13.4899 130 0.128 -0.138 1.575 1.668 130.028 29.091 23.8053 15.2577 140 0.126 -0.172 0.895 1.249 126.151 29.633 21.0042 16.8756 150 0.123 -0.203 0.406 0.946 122.786 30.158 18.011 18.3302 160 0.117 -0.23 0.062 0.735 119.97 30.771 15.0584 19.5402 170 0.108 -0.253 -0.177 0.572 117.715 31.575 12