平面六杆机构的运动分析

机械原理大作业（一）平面六杆机构的运动分析班级：学号：姓名：同组者:完成时间：一．题目1．1 说明如图所示为一片面六杆机构各构件尺寸如表格1所示，又知原动件1以等角速度ω=1rad/s沿逆时针方向回转，试求各从动件的角位移、角加速度以及E点的位移、速度及加速度的变化情况。

1．2 数据组号L1L2L’2L3L4L5L6 x G y G1-A 26.5 105.6 65.0 67.5 87.5 34.4 25.0 600 153.5 41.7表格1 条件数据1．3 要求三人一组，编程计算出原动件从0~360º时（计算点数N=36）所要求各运动变量的大小，并绘制运动线图及点的轨迹曲线。

二．解题步骤由封闭图形ABCD 可得：由封闭图形AGFECD 可得于是有：1122331122433sin sin sin 1cos cos sin 2l l l l l l l θθθθθθ+=--------+=+-----/1122225566/1122225566cos cos sin cos cos 153.53sin sin cos sin sin 41.74l l l l l l l l l l θθθθθθθθθθ+++=+----+-+=+-----对以上1到4导可得-222333111222333111/55566611122222/55566611122222cos cos cos sin sin sin sin sin sin (sin cos )cos cos cos (cos sin )l l l l l l l l l l l l l l l l θωθωθωθωθωθωθωθωθωωθθθωθωθωωθθ-+=-=--=----=--+写做矩阵形式：22332233'22225566'22225566cos cos 00sin sin 00cos sin 0sin sin sin cos 0cos cos l l l l l l l l l l l l θθθθθθθθθθθθ-⎡⎤⎢⎥⎢⎥⎢⎥-+-⎢⎥+-⎣⎦ 2113111511611cos sin sin cos l l l l ωθωθωωθωθ⎡⎤⎡⎤⎢⎥⎢⎥-⎢⎥⎢⎥=⎢⎥⎢⎥-⎢⎥⎢⎥⎢⎥⎢⎥⎣⎦⎣⎦对上述矩阵求导可得：2233222333'222255665'222255666cos cos 00sin sin 00sin cos 0sin sin cos sin 0cos cos l l l l l l l l l l l l θθαθθαθθθθαθθθθα-⎡⎤⎡⎤⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥⎢⎥--⎢⎥⎢⎥+-⎣⎦⎣⎦222331122223311231/222225566115/222225566116sin sin 00cos cos cos 00sin cos sin 0cos cos cos sin cos 0sin sin sin l l l l l l l l l l l l l l l l θθθωθθθωωθθθθθωθθθθθω-⎡⎤⎡⎤⎡⎤⎢⎥⎢⎥⎢⎥-⎢⎥⎢⎥⎢⎥=-⎢⎥⎢⎥⎢⎥+--⎢⎥⎢⎥⎢⎥-+--⎢⎥⎣⎦⎣⎦⎣⎦E 点横坐标及对应的速度和加速度:/112222/111222222222//11111122222222222cos cos sin sin sin cos cos sin cos sin sin cos ex ex xe l l lvl l l a l l l l l l θθθθωθωθωωθαθωθαθωθθα=++=--+=-----+E 点纵坐标及对应的速度和加速度:/112222/111222222221111112222222//22222sin sin cos cos cos sin sin cos sin cos cos sin ey ey e e e ye l l l v l l l a l l l l l l s v a θθθθωθωθωωθαθωθαθωθθα=+-=++=-+-+++===三．计算程序框图四．源程序1．#include "stdlib.h"#include "math.h"#include "stdio.h"int agaus(a,b,n)int n;double a[],b[];{ int *js,l,k,i,j,is,p,q;double d,t;js=malloc(n*sizeof(int));l=1;for (k=0;k<=n-2;k++){ d=0.0;for (i=k;i<=n-1;i++)for (j=k;j<=n-1;j++){ t=fabs(a[i*n+j]);if (t>d) { d=t; js[k]=j; is=i;}}if (d+1.0==1.0) l=0;else{ if (js[k]!=k)for (i=0;i<=n-1;i++){ p=i*n+k; q=i*n+js[k];t=a[p]; a[p]=a[q]; a[q]=t;}if (is!=k){ for (j=k;j<=n-1;j++){ p=k*n+j; q=is*n+j;t=a[p]; a[p]=a[q]; a[q]=t;}t=b[k]; b[k]=b[is]; b[is]=t;}}if (l==0){ free(js); printf("fail\n");return(0);}d=a[k*n+k];for (j=k+1;j<=n-1;j++){ p=k*n+j; a[p]=a[p]/d;}b[k]=b[k]/d;for (i=k+1;i<=n-1;i++){ for (j=k+1;j<=n-1;j++){ p=i*n+j;a[p]=a[p]-a[i*n+k]*a[k*n+j];}b[i]=b[i]-a[i*n+k]*b[k];}}d=a[(n-1)*n+n-1];if (fabs(d)+1.0==1.0){ free(js); printf("fail\n");return(0);}b[n-1]=b[n-1]/d;for (i=n-2;i>=0;i--){ t=0.0;for (j=i+1;j<=n-1;j++)t=t+a[i*n+j]*b[j];b[i]=b[i]-t;}js[n-1]=n-1;for (k=n-1;k>=0;k--)if (js[k]!=k){ t=b[k]; b[k]=b[js[k]]; b[js[k]]=t;}free(js);return(1);}2.程序二求解各杆的角度和E点坐标（杆四的角度始终为零，程序中不再求解）/*输出文件Output.txt*/#include "stdio.h"#include <conio.h>#include "dnetn.c"#include "agaus.c"#include <math.h>#define PI 3.14159265358979#define ANGLE (PI/180)#define ALPHA (PI*60/180)/*初始杆长：*/static double dLen[7]={65.0, 26.5, 105.6, 67.5, 87.5, 34.4, 25.0};/*G 点的坐标*/static double dGxy[2]={153.5,41.7};static double x0 = 0 * ANGLE;main(){int i,k;double eps,t,h,xe,ye;int nTemp=0;FILE *pf;/* 各角位移的初始估计值*/static doublex[4]={36.80*ANGLE,69.57*ANGLE,119.00*ANGLE,48.92*ANGLE};pf = fopen("Output.txt","w");t=0.1; h=0.1; eps=0.00000001; k=100;for (nTemp = 0; nTemp <= 36; nTemp++){x0 = nTemp * 10 * ANGLE;i=dnetn(4,eps,t,h,x,k);printf("\ni=%d\n",i);printf("x0=%lf\n",x0);fprintf(pf,"%d\t",10*nTemp);for (i=0; i<=3; i++){printf("x(%d)=%13.7lf\n",i,x[i]/ANGLE);fprintf(pf,"%lf\t",x[i]/ANGLE);}xe=dLen[1] * cos(x0)+ dLen[2] * cos(x[0])+dLen[0] * cos(ALPHA-(x[0])); ye=dLen[1] * sin(x0)+ dLen[2] * sin(x[0])-dLen[0] * sin(ALPHA-(x[0])); printf("xe=%13.7lf\nye=%13.7lf\n",xe,ye);fprintf(pf,"\n");printf("\n");}fclose(pf);getch();}/*建立牛顿法矩阵*/void dnetnf(x,y,n) int n;double x[],y[];{y[0] = dLen[1] * cos(x0) + dLen[2] * cos(x[0]) - dLen[3] * cos(x[1])- dLen[4] ;y[1] = dLen[1] * sin(x0) + dLen[2] * sin(x[0]) - dLen[3] * sin(x[1]);y[2] = dLen[1] * cos(x0) + dLen[2] * cos(x[0]) + dLen[5]* cos(x[2]) - dLen[6] * cos(x[3]) - dGxy[0] +dLen[0] * cos(ALPHA-(x[0]));y[3] = dLen[1] * sin(x0) + dLen[2] * sin(x[0]) + dLen[5]* sin(x[2]) - dLen[6] * sin(x[3]) - dGxy[1]-dLen[0] * sin(ALPHA-(x[0]));n = n;return;}3. 程序三求解各杆的角速度和E点速度（杆四的角速度始终为零，程序中不再求解）/*输出文件Output2.txt*/#include "stdio.h"#include "math.h"#include "agaus.c"#include <conio.h>#define PI 3.14159265358979#define ANGLE (PI/180)#define ALPHA (PI*35/180)/*初始杆长：依次为*/static double dLen[7]={65.0, 26.5, 105.6, 67.5, 87.5, 34.4, 25.0};/* G 点的坐标*/static double dGxy[2]={153.5,41.7};static double x0 = 0 * ANGLE;static double w1 = 1.0;double Vex,Vey;main(){int i,j,nTime;FILE *fInput;FILE *fOutput2;int nX0,nCounter;double dTemp[4]={0};static double a[4][4]= {0.};static double b[4]={0.};/*将agu_01.C 的输出文件output.txt 作为输入文件，继续计算*/ fInput = fopen("output.txt","r");fOutput2 = fopen("output2.txt","w");for(nTime=0;nTime<=36;nTime++){fscanf(fInput,"%d",&nX0);x0=nX0*ANGLE;printf("x0= %lf\n",x0);for (nCounter=0;nCounter<4;nCounter++){fscanf(fInput,"%lf",&dTemp[nCounter]);}for (nCounter=0;nCounter<4;nCounter++){dTemp[nCounter] = dTemp[nCounter] * ANGLE;}/*建立高斯方程组矩阵*/a[0][0] = - dLen[2] * sin(dTemp[0]);a[0][1] = dLen[3] * sin(dTemp[1]);a[0][2] = 0.;a[0][3] = 0.;a[1][0] = dLen[2] * cos(dTemp[0]);a[1][1] = - dLen[3] * cos(dTemp[1]);a[1][2] = 0.;a[1][3] = 0.;a[2][0] = dLen[2] * sin(dTemp[0])- dLen[0] * sin(ALPHA-(dTemp[0])); a[2][1] =0.;a[2][2] = dLen[5] * sin(dTemp[2]);a[2][3] = -dLen[6] * sin(dTemp[3]);a[3][0] = dLen[2] * cos(dTemp[0])+dLen[0] * cos(ALPHA-(dTemp[0])); a[3][1] = 0.;a[3][2] = dLen[5] * cos(dTemp[2]);a[3][3] = - dLen[6] * cos(dTemp[3]);b[0] = dLen[1] * sin(x0) * w1;b[1] = - dLen[1] * cos(x0) * w1;b[2] = -dLen[1]* sin(dTemp[0])* w1 ;b[3] =-dLen[1]* cos(dTemp[0])* w1 ;if (agaus(a,b,4)!=0)for (i=0;i<=3;i++){printf("w%d=%lf\n",i,b[i]);fprintf(fOutput2,"%lf ",b[i]);Vex=-dLen[1] * sin(x0) * w1-dLen[2] * sin(dTemp[0]) * b[0]+dLen[0] * sin(ALPHA-(dTemp[0])) *b[0];Vey=dLen[1] * cos(x0) * w1+dLen[2] * cos(dTemp[0]) * b[0]+dLen[0] * cos(ALPHA-(dTemp[0])) * b[0];}printf("Vex=%lf\nVey=%lf\n",Vex,Vey);fprintf(fOutput2,"\n");printf("\n");}fclose(fInput);fclose(fOutput2);getch();}4. 程序四求解各杆和点E的角加速度（杆四角加速度始终为零，这里不再求解）/*输出文件Output3.txt*/#include "stdio.h"#include "math.h"#include "agaus.c"#include <conio.h>#define PI 3.14159265358979#define ANGLE (PI/180)#define ALPHA (PI*35/180)/*初始杆长：依次为*/static double dLen[7]={65.0, 26.5, 105.6, 67.5, 87.5, 47.2, 37.8};/*G 点的坐标*/static double dGxy[2]={153.5,41.7};static double x0 = 0 * ANGLE;static double w1 = 1.0;main(){FILE *fInput2;FILE *fOutput3;int nX0,nCounter;double Aex,Aey;double dSeta[5]={0.};double dOmiga[4] = {0.};static double a[4][4]= {0.};static double b[4]={0.};/*将agu_02.C 的输出文件output2.txt 作为输入文件，继续计算*/fInput2 = fopen("output2.txt","r");fOutput3 = fopen("output3.txt","w");for(nTime=0;nTime<=36;nTime++){fscanf(fInput2,"%d",&nX0);/*读入角度值*/for (nCounter=0;nCounter<5;nCounter++){fscanf(fInput2,"%lf",&dSeta[nCounter]);}/*读入角速度值*/for (nCounter=0;nCounter<4;nCounter++){fscanf(fInput2,"%lf",&dOmiga[nCounter]);}/*建立高斯方程组矩阵,dSeta[0]=x1（角度我们草稿的）,dSeta[1]=x2,dSeta[2]=x3,dSeta[3]=x5,dSeta[4]=x6dOmiga[0] =w2, dOmiga[1]=w3, dOmiga[2]=w5, dOmiga[3]=w6*/a[0][0] = - dLen[2] * sin(dSeta[1]);a[0][1] = dLen[3] * sin(dSeta[2]);a[0][2] = 0.;a[0][3] = 0.;a[1][0] = dLen[2] * cos(dSeta[1]);a[1][1] = - dLen[3] * cos(dSeta[2]);a[1][2] = 0.;a[1][3] = 0.;a[2][0] = - dLen[0] * sin(ALPHA-(dSeta[1]))+dLen[2] * sin(dSeta[1]);a[2][2] = dLen[5] * sin(dSeta[3]);a[2][3] = -dLen[6] * sin(dSeta[4]);a[3][0] = dLen[0] * cos(ALPHA-(dSeta[1]))+dLen[2] * cos(dSeta[1]);a[3][1] = 0.;a[3][2] = dLen[5] * cos(dSeta[3]);a[3][3] = - dLen[6] * cos(dSeta[4]);b[0] = - ( - dLen[2] * cos(dSeta[1]) * dOmiga[0] * dOmiga[0]+ dLen[3] * cos(dSeta[2]) * dOmiga[1] * dOmiga[1] ) + dLen[1] *cos(dSeta[0]) * w1 * w1;b[1] = - ( - dLen[2] * sin(dSeta[1]) * dOmiga[0] * dOmiga[0]+ dLen[3] * sin(dSeta[2]) * dOmiga[1] * dOmiga[1] ) + dLen[1] *sin(dSeta[0]) * w1 * w1;b[2] = -w1 * w1* dLen[1]*cos(dSeta[0])-dOmiga[0] *dOmiga[0]*(dLen[2]*cos(dSeta[1])+dLen[0] * cos(ALPHA-(dSeta[1])))+dOmiga[3] *dOmiga[3]*dLen[6] * cos(dSeta[4])-dLen[5]*cos(dSeta[3]) * dOmiga[2] * dOmiga[2];b[3] = w1 * w1* dLen[1]*sin(dSeta[0])-dOmiga[0] *dOmiga[0]*(dLen[2]*sin(dSeta[1])-dLen[0]*sin(ALPHA-(dSeta[1])))-dOmiga[3] * dOmiga[3]*dLen[6] * sin(dSeta[4])+ dLen[5]*sin(dSeta[3]) * dOmiga[2] * dOmiga[2];if (agaus(a,b,4)!=0)for (i=0;i<=3;i++){printf("a[%d]=%lf\n",i,b[i]);fprintf(fOutput3,"%lf ",b[i]);Aex=-dLen[2]*sin(dSeta[1])*b[0]+dLen[0]*sin(ALPHA-(dSeta[1]))*b[0]-dLen[1]*c os(dSeta[0])*w1*w1-dLen[2]*cos(dSeta[1])*dOmiga[0] * dOmiga[0]-dLen[0]*cos(ALPHA-(dSeta[1]))*dOmiga[0] * dOmiga[0];Aey=dLen[2]*cos(dSeta[1])*b[0]+dLen[0]*cos(ALPHA-(dSeta[1]))*b[0]-dLen[1]*si n(dSeta[0])*w1*w1-dLen[2]*sin(dSeta[1])*dOmiga[0] * dOmiga[0]+dLen[0]*sin(ALPHA-(dSeta[1]))*dOmiga[0] * dOmiga[0];};printf("Aex=%lf\nAey=%lf",Aex,Aey);fprintf(fOutput3,"%lf %lf ",Aex,Aey);printf("\n\n");fprintf(fOutput3,"\n");}fclose(fInput2);fclose(fOutput3);getch();}5. #include "stdlib.h"#include "math.h"#include "stdio.h"int dnetn(n,eps,t,h,x,k)int n,k;double eps,t,h,x[];{ extern void dnetnf();extern int agaus();int i,j,l;double am,z,beta,d,*y,*a,*b;y=malloc(n*sizeof(double));a=malloc(n*n*sizeof(double));b=malloc(n*sizeof(double));l=k; am=1.0+eps;while (am>=eps){ dnetnf(x,b,n);am=0.0;for (i=0; i<=n-1; i++){ z=fabs(b[i]);if (z>am) am=z;}if (am>=eps){ l=l-1;if (l==0){ free(y); free(b); free(a);printf("fail\n"); return(0);}for (j=0; j<=n-1; j++){ z=x[j]; x[j]=x[j]+h;dnetnf(x,y,n);for (i=0; i<=n-1; i++) a[i*n+j]=y[i];x[j]=z;}if (agaus(a,b,n)==0){ free(y); free(a); free(b); return(-1);}beta=1.0;for (i=0; i<=n-1; i++) beta=beta-b[i];if (fabs(beta)+1.0==1.0){ free(y); free(a); free(b);printf("fail\n"); return(-2);}d=h/beta;for (i=0; i<=n-1; i++) x[i]=x[i]-d*b[i];h=t*h;}}free(y); free(a); free(b);return(k-l);}五．计算结果Ø1（单位：度）Ø2（单位：度）Ø3（单位：度）Ø5（单位：度）Ø6（单位：度）0 36.79905 69.57313 122.46277 92.6654410 32.70947 66.00299 106.49971 67.7985720 29.27761 64.07317 97.17544 52.8627930 26.59737 63.73103 90.38343 44.2491940 24.63591 64.75511 84.24782 39.6726650 23.30108 66.86468 77.84116 37.3160760 22.49012 69.79004 70.48144 35.4195770 22.11297 73.30077 61.27227 31.8763180 22.09903 77.20936 48.85081 23.8253990 22.39637 81.36482 32.26459 8.59423100 22.96844 85.64442 13.79708 -12.32793110 23.79035 89.9462 -1.88955 -33.319120 24.84564 94.18335 -12.74873 -50.88439130 26.12331 98.28029 -19.47863 -64.7211140 27.61533 102.17026 -23.43679 -75.58772150 29.31424 105.7939 -25.76743 -84.24675160 31.21099 109.09881 -27.29596 -91.26152170 33.29288 112.03937 -28.59909 -97.03193180 35.54172 114.57678 -30.07522 -101.86068190 37.93229 116.67878 -31.9902 -106.00396200 40.43114 118.31896 -34.50611 -109.69951210 42.99573 119.4754 -37.70212 -113.17284220 45.57385 120.12878 -41.59328 -116.6253230 48.10309 120.26007 -46.14952 -120.21085240 50.51035 119.84805 -51.3162 -124.01045250 52.71117 118.86702 -57.03775 -128.01362260 54.60905 117.28503 -63.28435 -132.11561270 56.09499 115.06345 -70.07877 -136.13486280 57.0483 112.15863 -77.51645 -139.85181290 57.33997 108.52777 -85.77334 -143.06816300 56.84147 104.14138 -95.10476 -145.69344310 55.44279 99.00639 -105.86689 -147.89694320 53.08351 93.20271 -118.69237 -150.50439330 49.79689 86.93055 -135.48887 -156.60458340 45.75473 80.55028 -164.06049 -178.72163350 41.28125 74.57477 -207.28198 -226.97527360 36.79905 69.57313 -237.53723 -267.33456Ø1（单位：度）w2（单位：rad/s）w3（单位：rad/s）w5（单位：rad/s）w6（单位：rad/s）0 -0.43443 -0.43443 -2.42454 -2.8371910 -0.37901 -0.27611 -1.50231 -1.968520 -0.30588 -0.11091 -0.91878 -1.2061430 -0.23084 0.0386 -0.56502 -0.5861540 -0.16307 0.16142 -0.32443 -0.0690150 -0.10564 0.25595 -0.12907 0.3848760 -0.05806 0.32527 0.04806 0.803970 -0.01854 0.37376 0.1795 1.1659780 0.0149 0.40546 0.11671 1.2862790 0.04397 0.4236 -0.38862 0.79914100 0.07003 0.43063 -1.16737 -0.17018110 0.09408 0.42829 -1.6884 -0.94667120 0.1168 0.41789 -1.86857 -1.34715130 0.13861 0.40039 -1.87297 -1.52948140 0.15968 0.37661 -1.81572 -1.62653150 0.17996 0.34725 -1.74328 -1.70373160 0.19918 0.31298 -1.66885 -1.78936170 0.21689 0.27449 -1.5923 -1.89434180 0.23246 0.23246 -1.50865 -2.02015190 0.2451 0.18751 -1.41155 -2.16137200 0.25396 0.14017 -1.29477 -2.30623210 0.25809 0.0908 -1.15309 -2.437220 0.25649 0.03956 -0.98329 -2.53119230 0.24814 -0.01365 -0.78563 -2.56401240 0.23191 -0.06918 -0.56583 -2.51212250 0.20665 -0.12756 -0.33625 -2.35805260 0.17111 -0.18948 -0.11521 -2.09378270 0.12406 -0.25557 0.0769 -1.72194 280 0.06444 -0.32613 0.22384 -1.25397 290 -0.00827 -0.40058 0.32055 -0.70581 300 -0.09331 -0.47665 0.37885 -0.09149 310 -0.18751 -0.5491 0.4312 0.58577 320 -0.28388 -0.60837 0.52728 1.338330 -0.37062 -0.64005 0.62226 2.05413 340 -0.43232 -0.62729 -0.67743 0.7279 350 -0.45511 -0.55802 -3.06708 -2.90494 360 -0.43443 -0.43443 -2.42454 -2.83719Ø1（单位：度）a2a3a5a60 1.87731 -1.41416 -9.35725 22.2769 10 -0.5276 -1.31314 12.83943 14.43913 20 -10.21122 -16.13634 -41.38351 -111.46712 30 0.32227 0.3023 -2.24307 -1.31208 40 0.71049 0.38945 -2.22378 2.07264 50 2.16574 5.80322 -21.27313 -59.00654 60 -0.14435 3.87974 15.29502 -4.92108 70 2.03095 3.01559 -66.66643 -92.75689 80 1.34149 -0.79682 -5.69693 17.35997 90 3.87371 1.20109 94.506 115.59534 100 -16.9181 28.13118 -53.86927 20.51404 110 -0.62813 -1.17768 6.97249 -2.44462 120 0.97791 1.4819 -1.98112 6.72186 130 -0.21204 -0.7149 -1.26222 -4.04646 140 -1.6445 -4.05713 9.6632 4.02261 150 -1.02752 -1.88711 1.38509 13.48548 160 0.57409 -0.77111 37.87656 -52.56871 170 0.57409 -0.77111 37.87656 -52.56871 180 0.57409 -0.77111 37.87656 -52.56871 190 0.57409 -0.77111 37.87656 -52.56871 200 0.57409 -0.77111 37.87656 -52.56871 210 0.57409 -0.77111 37.87656 -52.56871 220 0.57409 -0.77111 37.87656 -52.56871 230 0.57409 -0.77111 37.87656 -52.56871 240 0.57409 -0.77111 37.87656 -52.56871 250 0.57409 -0.77111 37.87656 -52.56871 260 0.57409 -0.77111 37.87656 -52.56871 270 0.57409 -0.77111 37.87656 -52.56871 280 0.57409 -0.77111 37.87656 -52.56871 290 0.57409 -0.77111 37.87656 -52.56871300 0.57409 -0.77111 37.87656 -52.56871310 0.57409 -0.77111 37.87656 -52.56871320 0.57409 -0.77111 37.87656 -52.56871330 0.57409 -0.77111 37.87656 -52.56871340 0.57409 -0.77111 37.87656 -52.56871350 0.57409 -0.77111 37.87656 -52.56871360 0.57409 -0.77111 37.87656 -52.56871Xe Ye Vex Vey Aex Aey170.80165 37.64828 16.3554 -36.18842 173.19724 187.86733 172.71656 31.86308 5.73079 -29.47339 -114.74168 22.41059 172.88998 27.49921 -3.42435 -20.36538 -715.62505 -1365.89613 171.638 24.74528 -10.59649 -11.37278 0.54461 25.093 169.29484 23.43323 -15.9903 -3.997 -57.98263 103.71014 166.13717 23.22697 -19.99099 1.28259 510.37845 288.62216 162.37979 23.76584 -22.90228 4.59122 96.42715 358.18851 158.19546 24.73635 -24.90492 6.29816 29.47122 281.71398 153.73356 25.89561 -26.0944 6.82301 -0.16224 192.37618 149.13092 27.07215 -26.52516 6.55739 569.8676 129.35796 144.5161 28.15849 -26.24175 5.84156 382.52994 2655.46328 140.00934 29.10177 -25.29698 4.96127 -44.20371 -104.35613 135.72024 29.89438 -23.76081 4.1495 48.40659 122.97291 131.74447 30.56486 -21.72292 3.58769 -47.86092 -40.4638 128.16046 31.16891 -19.29091 3.40551 -237.39024 -304.20274 125.02664 31.78027 -16.58467 3.67982 -159.52108 -83.47344 122.38006 32.48145 -13.72801 4.43433 17.60551 69.77782 120.23657 33.35457 -10.838 5.64153 17.60551 69.77782 118.59302 34.47284 -8.01342 7.22776 17.60551 69.77782 117.43143 35.89317 -5.32368 9.08178 17.60551 69.77782 116.72496 37.65056 -2.79998 11.06569 17.60551 69.77782 116.44503 39.75449 -0.42987 13.02655 17.60551 69.77782 116.56922 42.18713 1.84399 14.80612 17.60551 69.77782 117.08882 44.90308 4.12093 16.24674 17.60551 69.77782 118.01564 47.8295 6.53526 17.19185 17.60551 69.77782 119.38721 50.866 9.24465 17.48044 17.60551 69.77782 121.26932 53.88292 12.41193 16.93617 17.60551 69.77782 123.75463 56.71749 16.17589 15.35323 17.60551 69.77782 126.95464 59.16755 20.60325 12.48565 17.60551 69.77782 130.98087 60.98483 25.61251 8.05474 17.60551 69.77782 135.90996 61.87304 30.86449 1.80458 17.60551 69.77782 141.72774 61.50325 35.63902 -6.34729 17.60551 69.77782 148.25584 59.5671 38.77909 -16.02343 17.60551 69.77782六．运动线图及分析说明：四组曲线分别为杆二、杆三、杆五、杆六。