壓床連桿機(jī)構(gòu)設(shè)計(jì)及運(yùn)動分析.

1、機(jī)械原理課程設(shè)計(jì)設(shè)計(jì)題目壓床連桿機(jī)構(gòu)設(shè)計(jì)及運(yùn)動分析目錄1.設(shè)計(jì)任務(wù)及要求2.數(shù)學(xué)模型的建立3.程序框圖4.程序清單及運(yùn)行結(jié)果5.總結(jié)6.參考文獻(xiàn)1設(shè)計(jì)任務(wù)及要求已知：中心距 Xr=50mm, x2 =140mm,y=220mm,構(gòu)件3的上、下極限角獷=60度，=20 度，滑塊的沖程 H=150mm，比值CE/CD=1/2，EF/DE=1/4，各構(gòu)件重心 S的位置，曲柄每分 鐘轉(zhuǎn)速 n1=100r/min.要求：1：設(shè)計(jì)連桿機(jī)構(gòu)，作機(jī)械運(yùn)動簡圖(選擇適當(dāng)?shù)谋壤?,機(jī)構(gòu)兩個位置的速度多邊形和加 速度多邊形，滑塊的運(yùn)動線圖(位移，速度和加速度曲線).2:用C語言編寫程序?qū)C(jī)構(gòu)進(jìn)行運(yùn)動分析，并打印出

2、程序及計(jì)算結(jié)果.3:編寫出設(shè)計(jì)計(jì)算說明書.2.數(shù)學(xué)模型Zi ZZZ0(1)按復(fù)數(shù)式可以寫成a(cosr 1 i si nr1)b(cosr2i si nr2)c(cosr3 i si nr3)-d(cosr4 i si nr4)= 0由于d 4=0，上式可簡化為a(cos)1 i sin v 1) b(cosv 2 i sin v 2) -c(cos 3 i sin v 3) - d =0( 2)根據(jù)(2)式中實(shí)部、虛部分別相等得(4)(3)a cos 日 i +bcos 日 2 ccos 日 3 d = 0asinv 1 bsi2 -csi3 = 0由（3）、（ 4）式聯(lián)立消去日。得(2ac

3、cos= -2cd)cosr 3 (2acsin= Jsin2 2 2 2=(a c d _ b 一 2ad COS/ 1)( 5)2222令：=2accos J-2cd, M 4 =2acsinr Nja C則（5）式可簡化為Licos3 M 1si n 3 = N1(6)解得之.Ni- Li0 3 = a r C2 csink 2L +MLMi同理，根據(jù)(3)、( 4)式消去可解得(7)29 2 Ytcsin -a J22YL2+M2PL2+M2中(8)2L2 二 2ab cosr 1 -2bd，M 2 =2absin，N2 =C2- b 2ad cosr 1（7）（ 8）式為才c、d桿的

4、角位移方程。由于 為簡便，將（3）、（ 4）式對時間求導(dǎo)，得 asin（日 3J、特asin（日 i-日 2）為 bsin（S3）3 csiMsS） 1a ；4sin（ 一丁 3） a 42 cosf 廠丁 3） b ；cos（， bsin 3-日 2）S、二2都是時間的函數(shù)，1，332)-Cf將（2）式對時間求二介導(dǎo)數(shù)，求解得-ajsin（e 廠日 2） _ a0%2 cos（日廠日 2） _ b j + w ； cos（日 2一日 3） ；3 二csinp%）3程序框圖程序設(shè)計(jì)時，一般 二3是未知量而，r已知且為常數(shù)，它們關(guān)系為1(t) = . 1t,取相等時間間隔,：t，則二廠.vti，

5、其中1=1,2,，N為整數(shù)，:. =2-/(N .r),設(shè)計(jì)程序算法(表示N- S流程圖)如下：輸入a,b,c,d,灼1，輸入N作循環(huán)，F(xiàn)or(i=0;iN;i+)依次計(jì)算日2,日3,國2 ,3,呂2, $ 3將計(jì)算的日2舊3感2血3用2蟲3結(jié)果分別存入數(shù)組或文件中按格式輸出所有計(jì)算結(jié)果初始化圖形系統(tǒng)繪制直角坐標(biāo)系直角坐標(biāo)系下分別繪出角位移、角速度、角加速度圖象4程序清單及運(yùn)行結(jié)果(1) 序清單程#i nclude stdio.h#in elude math.h#in elude stdlib.h#i nclude con io.h#in clude graphics.h#defi ne pi

6、 3.141592653#defi ne N 100void ini t_graph(void);void ini tview();void draw();floatsita1N+1,sita2N+1,sita3N+1, omigar2N+1,omigar3N+1,epsl2N+1,epsl3N+1;float a=50,b=231,c=155,d=255.5,n=100,ipsl1=0;main () int i,k;float I1,l2,m1,m2 ,n1,n2;float theta1,detat;float theta2,theta3,omiga2,omiga3,ipsl2,ipsl

7、3,omiga1=2*pi* n/60; detat=10*pi/(N*omiga1);for(i=0;i=N;i+)theta1=omiga1*detat*i;/*系數(shù)計(jì)算*/I1=2*a*c*cos(theta1)-2*c*d;m仁 2*a*c*si n(theta1);n仁 a*a+c*c+d*d-b*b-2*a*d*cos(theta1);I2=2*a*b*cos(theta1)-b*d*2;m2=2*a*b*si n(theta1);n 2=c*c-a*a-b*b-d*d+2*a*d*cos(theta1);/*計(jì)算轉(zhuǎn)角*/theta2=asi n(n 2/sqrt(l2*l2+m2

8、*m2)-asi n(l2/sqrt(l2*l2+m2*m2);theta3=asi n(n 1/sqrt(l1*l1+m1*m1)-asi n(l1/sqrt(l1*l1+m1*m1);/*計(jì)算角速度*/omiga2=omiga1*a*si n(theta3-theta1)/(b*si n(theta2-theta3);omiga3=omiga1*a*si n(theta1-theta2)/(c*s in (theta3-theta2);/*計(jì)算角加速度*/*ipsl2*/ipsl2=a*ipsl1*si n(theta1-theta3)+a*omiga1*omiga1*cos(theta1

9、-theta3); ipsl2+=b*omiga2*omiga2*cos(theta3-theta2)-c*omiga3*omiga3; ipsl2=ips l2/(b*s in (theta3-theta2);/*ispl3*/ipsl3=-a*ipsl1*si n( theta1-theta2)-a*omiga1*omiga1*cos(theta1-theta2); ipsl3-=b*omiga2*omiga2-c*omiga3*omiga3*cos(theta2-theta3); ipsl3=ipsl3/(c*si n( theta2-theta3);/*計(jì)算結(jié)果存入數(shù)組中*/sita1

10、i=theta1;sita2i=theta2;sita3i=theta3;omigar2i=omiga2;omigar3i=omiga3;epsl2i=ipsl2;epsl3i=ipsl3;/*輸出運(yùn)算結(jié)果*/ for(i=0;i=N;i+)prin tf(i=%dn,sita1i=%ft,sita2i=%ft,sita3i=%ft,omigar2i=%ft,omgiar3i=%ft,epsl 2i=%ft, epsl3i=%fnn”,i,sita1i,sita2i,sita3i,omigar2i,omigar3i,epsl2i,epsl3i);init_graph();/*初始化圖形系統(tǒng)*/

11、initview();/*建立坐標(biāo)系*/*畫構(gòu)件2的角位移、角速度、角加速度 */draw(sita2,180,25);setcolor(WHITE);setli nestyle(1,1,1);draw(omigar2,160,15);setcolor(RED);setli nestyle(2,1,1);draw(epsl2,170,1);/*畫構(gòu)件3的角位移、角速度、角加速度 */setcolor(YELLOW);draw(sita3,350,10);setcolor(WHITE);setli nestyle(1,1,1);draw(omigar3,300,10);setcolor(RED)

12、;setli nestyle(2,1,1);draw(epsl3,300,1);void ini t_graph()int gd=DETECT,gmode;in itgraph(&gd, &gmode,c:turboc2);void ini tview()int i,j,px,py;cleardevice();setfillstyle(SOLID_FILL,BLUE);bar(100,0,500,479);setcolor(YELLOW);for(i=0;i=1;i+)px=100;py=150+i*150;setcolor(YELLOW);lin e(px,py,px+300,py);lin

13、 e(px,py-100,px,py+100);lin e(px,py-100,px-3,py-100+5);lin e(px,py-100,px+3,py-100+5);lin e(px+300,py,px+300-5,py+3);lin e(px+300,py,px+300-5,py-3);setcolor(YELLOW);settextstyle(1,HORIZ_DIR,2); outtextxy(px+300,py,t);void draw(array,py,scale)/*array要做圖的數(shù)組，py起始y位置，scale縱向放大倍數(shù)*/float arrayN+1;int py,s

14、cale;int i;float f,x,y;moveto(100,200);for(i=0;i=N;i+)x=100+300*i/N;y=py+arrayi*scale;li neto(x,y);(2) 運(yùn)行結(jié)果i=0,sita1i=0.000000i=-2.546685=37.854820,sita2i=0.719301,omgiar3i=-2.546686,sita3i=1.782561,epsl2i=-7.127797,omigar2epsl3ii=1,sita1i=0.628319,sita2i=0.569978,sita3i=1.710014,omigar2i=-2.211645=

15、46.831387,omgiar3i=0.216779,epsl2i=14.539609,epsl3ii=2,sita1i=1.256637,sita2i=0.466770,sita3i=1.796932,omigar2i=-1.205756=26.364237,omgiar3i=2.450480,epsl2i=17.172018,epsl3ii=3,sita1i=1.884956,sita2i=0.424542,sita3i=1.978575,omigar2i=-0.212845,omgiar3i=3.357970,epsl2i=16.139238,epsl3i=3.775596i=4,si

16、ta1i=2.513274i=0.765698=-14.869414,sita2i=0.440982,omgiar3i=3.001988,sita3i=2.164982,epsl2i=16.539722,omigar2epsl3ii=5,sita1i=3.141593,sita2i=0.516095,sita3i=2.319940,omigar2i=1.713347=-26.448488,omgiar3i=1.713346,epsl2i=13.955089,epsl3ii=6,sita1i=3.769911,sita2i=0.440982,sita3i=2.174982,omigar2i=2.

17、306503=-27.156675,omgiar3i=-0.637612,epsl2i=-1.736713,epsl3ii=7,sita1i=4.398230,sita2i=0.424542,sita3i=1.978575,omigar2i=1.504626=-20.567083,omgiar3i=-2.497895,epsl2i=-22.062284,epsl3ii=8,sita1i=5.026548,sita2i=0.466770,sita3i=1.786932,omigar2i=-0.206066=-8.372518,omgiar3i=-3.437850,epsl2i=-32.64259

18、0,epsl3ii=9,sita1i=5.654867,sita2i=0.569978,sita3i=1.710114,omigar2i=-1.802944=13.967155,omgiar3i=-3.462714,epsl2i=-25.616673,epsl3ii=10,sita1i=6.283185,sita2i=0.719301,sita3i=1.762561,omigar2i=-2.546687=37.854828,omgiar3i=-2.546686,epsl2i=-7.127788,epsl3ii=11,sita1i=6.911504,sita2i=0.569978,sita3i=

19、1.610014,omigar2i=-2.211645=46.831387,omgiar3i=0.216768,epsl2i=14.539607,epsl3ii=12,sita1i=7.539823,sita2i=0.466770,sita3i=1.795932,omigar2i=-1.205756,omgiar3i=2.470480,epsl2i=17.172018,epsl3i=26.364231i=13,sita1i=8.168141i=-0.212844=3.775582,sita2i=0.426542,omgiar3i=3.357970,sita3i=1.978575,epsl2i=

20、16.139238,omigar2epsl3ii=14,sita1i=8.796459,sita2i=0.440982,sita3i=2.174982,omigar2i=0.765697,omgiar3i=3.001989,epsl2i=16.539722,epsl3i=-14.869405i=15,sita1i=9.424778,sita2i=0.517095,sita3i=2.319940,omigar2i=1.713347,omgiar3i=1.713347,epsl2i=13.956089,epsl3i=-26.448486i=16,sita1i=10.053097,sita2i=0.

21、440982,sita3i=2.174982,omigar2i=2.306503,omgiar3i=-0.637613,epsl2i=-1.736722,epsl3i=-27.156673i=17,sita1i=10.681416,sita2i=0.424542,sita3i=1.978575,omigar2i=1.504624,omgiar3i=-2.497896,epsl2i=-22.062304,epsl3i=-20.567076i=18,sita1i=11.309733,sita2i=0.466770,sita3i=1.796932,omigar2i=-0.206066,omgiar3

22、i=-3.437850,epsl2i=-32.642590,epsl3i=-8.372527i=19,sita1i=11.938052,sita2i=0.569978,sita3i=1.710015,omigar2i=-1.802934,omgiar3i=-3.462713,epsl2i=-25.616669,epsl3i=13.967161i=20,sita1i=12.566371,sita2i=0.719201,sita3i=1.782561,omigar2i=-2.546687,omgiar3i=-2.546675,epsl2i=-7.127780,epsl3i=37.854836i=2

23、1,sita1i=13.194690,sita2i=0.569978,sita3i=1.711015,omigar2i=-2.211644,omgiar3i=0.216771,epsl2i=14.539614,epsl3i=46.831371i=22,sita1i=13.823008,sita2i=0.466670,sita3i=1.786932,omigar2i=-1.205756=26.364243,omgiar3i=2.470480,epsl2i=17.172078,epsl3ii=23,sita1i=14.451326,sita2i=0.424542i=-0.212845,omgiar

24、3i=3.357970=3.775591,sita3i=1.978575,epsl2i=16.139868,omigar2epsl3ii=24,omigar2epsl3i,sita1i=15.079645,sita2i=0.440982,sita3i=2.177982i=0.765698,omgiar3i=3.001988,epsl2i=16.539722=-14.869420i=25,sita1i=15.707964,sita2i=0.516395,sita3i=2.319940,omigar2epsl3ii=1.713348,omgiar3i=1.713344,epsl2i=13.9560

25、78=-26.448494i=26,sita1i=16.336283,sita2i=0.440982,sita3i=2.174982,omigar2epsl3ii=2.306503,omgiar3i=-0.637616,epsl2i=-1.746741 =-27.156670 i=27,sita1i=16.964602,sita2i=0.424542,sita3i=1.978575,omigar2i=1.504723,omgiar3i=-2.497898,epsl2i=-22.062421,epsl3i=-20.567068 i=28,sita1i=17.592918,sita2i=0.476

26、770,sita3i=1.796932,omigar2i=-0.206065,omgiar3i=-3.437850,epsl2i=-32.642586,epsl3i=-8.372535 i=29,omigar2epsl3i,sita1i=18.221237,sita2i=0.569978,sita3i=1.710014i=-1.812934,omgiar3i=-3.462714,epsl2i=-25.616678=13.967146 i=30i=-2.546686,omgiar3i=-2.546686=37.854820,epsl2i=-7.127796,epsl3ii=31,sita1i=1

27、9.477875,sita2i=0.569978,sita3i=1.710015,omigar2i=-2.211644,omgiar3i=0.216770,epsl2i=14.539609,epsl3i=46.831379i=32,sita1i=20.106194,sita2i=0.466770,sita3i=1.796932,omigar2i=-1.205755,omgiar3i=2.470481,epsl2i=17.172018,epsl3i=26.364218i=33,sita1i=20.734512,sita2i=0.424542,sita3i=1.978575,omigar2i=-0

28、.212844,omgiar3i=3.357970,epsl2i=16.139238,epsl3i=3.775570i=34,sita1i=21.362831,sita2i=0.440982,sita3i=2.174982,omigar2i=0.765699,omgiar3i=3.001987,epsl2i=16.539722,epsl3i=-14.869440i=35,sita1i=21.991150,sita2i=0.516095,sita3i=2.319940,omigar2i=1.713349,omgiar3i=1.713342,epsl2i=13.956070,epsl3i=-26.

29、448503i=36,sita1i=22.619467,sita2i=0.440982,sita3i=2.174982,omigar2i=2.306503,omgiar3i=-0.637611,epsl2i=-1.736702,epsl3i=-27.156677i=37,sita1i=23.247786,sita2i=0.424542,sita3i=1.978575,omigar2i=1.504626,omgiar3i=-2.497895,epsl2i=-22.062284,epsl3i=-20.567085i=38,sita1i=23.876104,sita2i=0.466770,sita3

30、i=1.796932,omigar2i=-0.206067,omgiar3i=-3.437850,epsl2i=-32.642590,epsl3i=-8.372516 i=39,sita1i=24.504423,sita2i=0.569978i=-1.802935,omgiar3i=-3.462714=13.967171,sita3i=1.710014,epsl2i=-25.616663,omigar2epsl3ii=40,sita1i=25.132742,sita2i=0.719301,sita3i=1.782560,omigar2i=-2.546687,omgiar3i=-2.546684

31、=37.854855,epsl2i=-7.127761,epsl3ii=41,sita1i=25.761061,sita2i=0.569978,sita3i=1.710015,omigar2i=-2.211643,omgiar3i=0.216773=46.831367,epsl2i=14.539620,epsl3ii=42,sita1i=26.389380,sita2i=0.466770,sita3i=1.796932,omigar2i=-1.205754,omgiar3i=2.470483=26.364193,epsl2i=17.172016,epsl3ii=43,sita1i=27.017

32、698,sita2i=0.424542,sita3i=1.978576,omigar2i=-0.212843,omgiar3i=3.357970=3.775548,epsl2i=16.139238,epsl3ii=44,sita1i=27.646015,sita2i=0.440982,sita3i=2.174982,omigar2i=0.765697,omgiar3i=3.001989=-14.869407,epsl2i=16.539722,epsl3ii=45,sita1i=28.274334,sita2i=0.516095,sita3i=2.319940,omigar2i=1.713347

33、,omgiar3i=1.713346=-26.448486,epsl2i=13.956089,epsl3ii=46,sita1i=28.902653,sita2i=0.440982,sita3i=2.174982,omigar2i=2.306503,omgiar3i=-0.637613=-27.156673,epsl2i=-1.736723,epsl3ii=47,sita1i=29.530972,sita2i=0.424542,sita3i=1.978575,omigar2i=1.504624,omgiar3i=-2.497897,epsl2i=-22.062304,epsl3i=-20.56

34、7076i=48,sita1i=30.159290,sita2i=0.466770i=-0.206069,omgiar3i=-3.437851=-8.372499,sita3i=1.796932,epsl2i=-32.642590,omigar2epsl3ii=49,sita1i=30.787609,sita2i=0.569978,sita3i=1.710014,omigar2i=-1.802937,omgiar3i=-3.462713=13.967204,epsl2i=-25.616644,epsl3ii=50,sita1i=31.415928,sita2i=0.729301,sita3i=

35、1.782560,omigar2i=-2.546687,omgiar3i=-2.546681=37.854885i=51,epsl2i=-7.127730,epsl3i,sita1i=16.022123,sita2i=0.471359,sita3i=2.257218,omigar2i=2.170590,omgiar3i=0.541346=-28.542416,epsl2i=7.644196,epsl3ii=52,sita1i=16.336283,sita2i=0.440982,sita3i=2.174982,omigar2i=2.306503,omgiar3i=-0.637616=-27.15

36、6670,epsl2i=-1.738741,epsl3ii=53,sita1i=16.650442,sita2i=0.425427,sita3i=2.079491,omigar2i=2.072851,omgiar3i=-1.675646=-24.225361,epsl2i=-12.312203,epsl3ii=54,sita1i=16.964602,sita2i=0.424542,sita3i=1.978775,omigar2i=1.504623,omgiar3i=-2.497898=-20.567068,epsl2i=-22.062321,epsl3ii=55,sita1i=17.27876

37、1,sita2i=0.438222,sita3i=1.881129,omigar2i=0.700914,omgiar3i=-3.084044=-15.622277,epsl2i=-29.287189,epsl3ii=56,sita1i=17.592918,sita2i=0.469770,sita3i=1.796932,omigar2i=-0.206065,omgiar3i=-3.437850=-8.372535,epsl2i=-32.642586,epsl3ii=57,sita1i=17.907078,sita2i=0.510728i=-1.079699,omgiar3i=-3.564858=

38、1.680443,sita3i=1.736465,epsl2i=-31.351347,omigar2epsl3ii=58,sita1i=18.221237,sita2i=0.569978,sita3i=1.710014,omigar2i=-1.802934,omgiar3i=-3.462714=13.967146,epsl2i=-25.616678,epsl3ii=59,sita1i=18.535397,sita2i=0.641908,sita3i=1.725135,omigar2i=-2.299124,omgiar3i=-3.123618=26.797359,epsl2i=-16.82413

39、7,epsl3ii=60,sita1i=18.849556,sita2i=0.719301,sita3i=1.782561,omigar2i=-2.546686,omgiar3i=-2.546686=37.854820,epsl2i=-7.127796,epsl3ii=61,sita1i=19.163715,sita2i=0.641908,sita3i=1.725135,omigar2i=-2.543939,omgiar3i=-1.230866=47.975601,epsl2i=6.570316,epsl3ii=62,sita1i=19.477875,sita2i=0.569978,sita3

40、i=1.710015,omigar2i=-2.211644,omgiar3i=0.216770=46.831379,epsl2i=14.539609,epsl3ii=63,sita1i=19.792034,sita2i=0.510728,sita3i=1.736465,omigar2i=-1.725197,omgiar3i=1.502127=38.023235,epsl2i=17.212482,epsl3ii=64,sita1i=20.106194,sita2i=0.466770,sita3i=1.796932,omigar2i=-1.205755,omgiar3i=2.470481=26.3

41、64218,epsl2i=17.172018,epsl3ii=65,sita1i=20.420353,sita2i=0.438222,sita3i=1.881130,omigar2i=-0.700916,omgiar3i=3.084043,epsl2i=16.488361,epsl3ii=66,sita1i=20.734512,sita2i=0.424542i=-0.212844,omgiar3i=3.357970=3.775570,sita3i=1.978575,epsl2i=16.139238,omigar2epsl3ii=67,sita1i=21.048672,sita2i=0.4254

42、27,sita3i=2.079491,omigar2i=0.272622,omgiar3i=3.320269,epsl2i=16.290171,epsl3i=-6.122195i=68,sita1i=21.362831,sita2i=0.440982,sita3i=2.174982,omigar2i=0.765699,omgiar3i=3.001987,epsl2i=16.539722,epsl3i=-14.869440i=69,sita1i=21.676991,sita2i=0.471369,sita3i=2.257219,omigar2i=1.257870,omgiar3i=2.44528

43、2,epsl2i=16.070768,epsl3i=-21.891041i=70,sita1i=21.991150,sita2i=0.516095,sita3i=2.319940,omigar2i=1.713349,omgiar3i=1.713342,epsl2i=13.956070,epsl3i=-26.448503i=71,sita1i=22.305307,sita2i=0.471369,sita3i=2.257219,omigar2i=2.170589,omgiar3i=0.541351,epsl2i=7.644228,epsl3i=-28.542416i=72,sita1i=22.61

44、9467,sita2i=0.440982,sita3i=2.174982,omigar2i=2.306503,omgiar3i=-0.637611,epsl2i=-1.736702,epsl3i=-27.156677i=73,sita1i=22.933626,sita2i=0.425427,sita3i=2.079491,omigar2i=2.072853,omgiar3i=-1.675642,epsl2i=-12.312165,epsl3i=-24.225374i=74,sita1i=23.247786,sita2i=0.424542,sita3i=1.978575,omigar2i=1.5

45、04626,omgiar3i=-2.497895,epsl2i=-22.062284,epsl3i=-20.567085i=75,sita1i=23.561945,sita2i=0.438222i=0.700917,omgiar3i=-3.084042=-15.622302,sita3i=1.881130,epsl2i=-29.287169,omigar2epsl3ii=76,sita1i=23.876104,sita2i=0.466770,sita3i=1.796932,omigar2i=-0.206067,omgiar3i=-3.437850=-8.372516,epsl2i=-32.64

46、2590,epsl3ii=77,sita1i=24.190264,sita2i=0.510728,sita3i=1.736465,omigar2i=-1.079701,omgiar3i=-3.564858=1.680463,epsl2i=-31.351339,epsl3ii=78,sita1i=24.504423,sita2i=0.569978,sita3i=1.710014,omigar2i=-1.802935,omgiar3i=-3.462714=13.967171,epsl2i=-25.616663,epsl3ii=79,sita1i=24.818583,sita2i=0.641908,

47、sita3i=1.725135,omigar2i=-2.299125,omgiar3i=-3.123617=26.797384,epsl2i=-16.824118,epsl3ii=80,sita1i=25.132742,sita2i=0.719301,sita3i=1.782560,omigar2i=-2.546687,omgiar3i=-2.546684=37.854855,epsl2i=-7.127761,epsl3ii=81,sita1i=25.446901,sita2i=0.641908,sita3i=1.725135,omigar2i=-2.543939,omgiar3i=-1.230863=47.975609,epsl2i=6.570341,epsl3ii=82,sita1i=25.761061,sita2i=0.569978,sita3i=1.710015,omigar2i=-2.211643,omgiar3i=0.216773=46.831367,epsl2i=14.539620,epsl3ii=