fi1 fi3 s2 s5

UNIVERSITATEA DIN ORADEA

FACULTATEA DE INGINERIE MANAGERIAL I TEHNOLOGIC

DOMENIUL Ingineria Autovehiculelor

SPECIALIZAREA Autovehicule Rutiere

DISCIPLINA Mecanisme

PROIECT DE ANMecanismul cu bare tip

R-RTR-RTT

COORDONATOR TIINIFICSTUDENT,

Prof.dr.ing. Rus Alexandru.MEREU RAZVAN

Grupa 232AORADEA

2013-2014Se considera schema cinematica a unui mecanism plan cu bare din componenta unei masini-unealta tip Seping. Lungimile caracteristice ale mecanismului plan cu bare sunt:

lo=0.165 m

n1=50 rot/min l1=0.078 m

m1=1.6 kg l3=0.340 m

m2=0.75 kg l0`=0.216 m

m3=7.8 kg l5`=0.116 m

m4=0.5kg l2=0.021 m

m5=7,5 kg l4=0.021 m

CO`=0.268 m

LL`=0.570 m

2.1 Geometria grafica a mecanismului

Geometria grafica a mecanismului se refera la construirea schemei cinematice, la o scara a lungimilor a carei valoare se allege in mot arbitrar.

Se allege formatul A3 pentru a construe schema cinematica a mecanismului la scara lungimilor ki=1/685,7 [m/mm]. Cunoscand lungimile caracteristice reale Li in [m] se calculeaza lungimile corespunzatoare pe desen li in [mm], cu furmula:

Li [m]l0=0.165l1=0.078l3=0.340l0`=0.216l5`=0.116l2=0.021l2=0.021CO`=0.268LL`=0.570

Li [mm]12060240155802020185357

Constructia grafica incepe prin alegerea punctului O1 ca origine a sistemului de axe cartezian O1xy fata de care se masoara coordonatele punctelor fixe O2, L` si L``;

Se construieste un cerc cu centrul in O1 si rata l1=60 mm.

Ca pozitie initiala a articulatiei mobile A, se considera punctual A(0) de pe axa O1y. Alegand pasul unghiular se imparte in 12 parti cercul descries de punctul A, astfel ca A(12)=A(0).

Constructia grafica a schemei cinematice implica parcurgerea urmatoarelor etape successive:

-se uneste punctele A(i) cu 02 si pe directia obtinuta se masoara l3=240 mm.

-in punctul A(i) si B(i) se deseneaza cate un drepunghi reprezentand patina-glisor 2, respect 4.avand latura mare pe directia barei 3, reprezentand cupla de translatie dintre elementele 2 si 3 respectiv 3 si 4

-se pozityioneaza punctul C pe axa y, la distanta: O1C=155mm si se construieste o dreapta // x , ca loc geometric pentru cupla de translatie C;

-se pozitioneaza punctul C` pe dreapta la distanta: CC`=185 mm-in punctele B(I) se ridica vertical pana la intersesctia cu translatie rectilinie;

-pozitiile extreme ale elemetului condus 5 corespund pozitiilor extreme ale barei 3; aceste pozitii se obtin ca directii tangent , duse din O2, la cercul descries de punctul A fata de punctul fix O1.

Pe aceasta plansa se pot masura, cu rigla si raportorul, deplasarile si natura cuplelor cinematice, modul in care acestea se leaga intre ele, pozitia relativa a zonelor de contact ale cuplelor cinematice si forma geometrica a acestora.

2.3.3 Metoda analitica

In functie de pozitia impusa a elementului conducator 1 , se vor deduce expresiile analitice pentru deplasarile, vitezele si acceleratiile elementelor cinematice conduse , in ordinea 2,3,4 si 5.

Ecuatiile vectoriale de inchidere ale contururilor I, fig(2.8.a) si II fig(2.8.b) sunt:

l0+l1-s2=0

lh-l3+s5=0

in care s-a folosit notatia lh=lo+l0+l0`

Ecuatiile scalare in sistemul cartezian xy se obtine din cele vectoriale, mentinand semnele din fata fiecarui termen.

Calculul deplasarilor

Prin rezolvarea sistemelor de ecuatii scalare de mai sus, partial neliniare,se deduc formulele pentru calculul analitic al deplasarilor liniare si unghiulare ca parametrii variabili necunoscuti:

;

;

;

Calculu vitezelor

Ecuatiile de viteze (liniare si unghiulare) se obtin prin derivarea in functie de timp a ecuatiilor de deplasare:

Calculul acceleratiilor

Ecuatiile de acceleratii (liniare si unghiulare ) se obtin prin derivarea in functie de timp a ecuatiilor de viteze:

S2 S5 0 0 21.0000 0

0.0436 0.0229 20.9950 0.2971

0.0873 0.0457 20.9801 0.5941

0.1309 0.0686 20.9551 0.8907

0.1745 0.0914 20.9203 1.1870

0.2182 0.1143 20.8755 1.4826

0.2618 0.1372 20.8208 1.7776

0.3054 0.1600 20.7561 2.0717

0.3491 0.1829 20.6817 2.3648

0.3927 0.2058 20.5974 2.6568

0.4363 0.2287 20.5034 2.9475

0.4800 0.2516 20.3996 3.2368

0.5236 0.2746 20.2861 3.5246

0.5672 0.2975 20.1630 3.8106

0.6109 0.3204 20.0303 4.0949

0.6545 0.3434 19.8881 4.3771

0.6981 0.3664 19.7365 4.6573

0.7418 0.3894 19.5755 4.9352

0.7854 0.4124 19.4052 5.2108

0.8290 0.4355 19.2258 5.4838

0.8727 0.4585 19.0372 5.7542

0.9163 0.4816 18.8395 6.0219

0.9599 0.5047 18.6329 6.2866

1.0036 0.5279 18.4175 6.5484

1.0472 0.5511 18.1934 6.8070

1.0908 0.5743 17.9606 7.0622

1.1345 0.5976 17.7194 7.3141

1.1781 0.6209 17.4697 7.5625

1.2217 0.6442 17.2118 7.8072

1.2654 0.6676 16.9457 8.0482

1.3090 0.6910 16.6715 8.2852

1.3526 0.7145 16.3895 8.5183

1.3963 0.7381 16.0998 8.7472

1.4399 0.7617 15.8024 8.9718

1.4835 0.7854 15.4976 9.1921

1.5272 0.8091 15.1854 9.4080

1.5708 0.8330 14.8661 9.6192

1.6144 0.8569 14.5397 9.8258

1.6581 0.8810 14.2065 10.0275

1.7017 0.9051 13.8667 10.2243

1.7453 0.9294 13.5203 10.4160

1.7890 0.9537 13.1675 10.6026

1.8326 0.9783 12.8086 10.7840

1.8762 1.0030 12.4437 10.9599

1.9199 1.0278 12.0729 11.1304

1.9635 1.0529 11.6966 11.2952

2.0071 1.0782 11.3148 11.4542

2.0508 1.1037 10.9277 11.6074

2.0944 1.1295 10.5357 11.7545

2.1380 1.1556 10.1387 11.8955

2.1817 1.1821 9.7372 12.0300

2.2253 1.2089 9.3313 12.1580

2.2689 1.2362 8.9211 12.2792

2.3126 1.2641 8.5071 12.3933

2.3562 1.2926 8.0893 12.5000

2.3998 1.3218 7.6680 12.5990

2.4435 1.3518 7.2436 12.6896

2.4871 1.3829 6.8163 12.7712

2.5307 1.4153 6.3864 12.8431

2.5744 1.4491 5.9543 12.9039

2.6180 1.4849 5.5204 12.9520

2.6616 1.5230 5.0850 12.9852

2.7053 1.5642 4.6489 12.9997

2.7489 -1.5322 4.2127 -12.9903

2.7925 -1.4816 3.7773 -12.9483

2.8362 -1.4235 3.3440 -12.8592

2.8798 -1.3546 2.9148 -12.6975

2.9234 -1.2697 2.4930 -12.4153

2.9671 -1.1596 2.0838 -11.9164

3.0107 -1.0079 1.6977 -10.9945

3.0543 -0.7857 1.3554 -9.1951

3.0980 -0.4515 1.0997 -5.6719

3.1416 -0.0000 1.0000 -0.0000

3.1852 0.4515 1.0997 5.6719

3.2289 0.7857 1.3554 9.1951

3.2725 1.0079 1.6977 10.9945

3.3161 1.1596 2.0838 11.9164

3.3598 1.2697 2.4930 12.4153

3.4034 1.3546 2.9148 12.6975

3.4470 1.4235 3.3440 12.8592

3.4907 1.4816 3.7773 12.9483

3.5343 1.5322 4.2127 12.9903

3.5779 -1.5642 4.6489 -12.9997

3.6216 -1.5230 5.0850 -12.9852

3.6652 -1.4849 5.5204 -12.9520

3.7088 -1.4491 5.9543 -12.9039

3.7525 -1.4153 6.3864 -12.8431

3.7961 -1.3829 6.8163 -12.7712

3.8397 -1.3518 7.2436 -12.6896

3.8834 -1.3218 7.6680 -12.5990

3.9270 -1.2926 8.0893 -12.5000

3.9706 -1.2641 8.5071 -12.3933

4.0143 -1.2362 8.9211 -12.2792

4.0579 -1.2089 9.3313 -12.1580

4.1015 -1.1821 9.7372 -12.0300

4.1452 -1.1556 10.1387 -11.8955

4.1888 -1.1295 10.5357 -11.7545

4.2324 -1.1037 10.9277 -11.6074

4.2761 -1.0782 11.3148 -11.4542

4.3197 -1.0529 11.6966 -11.2952

4.3633 -1.0278 12.0729 -11.1304

4.4070 -1.0030 12.4437 -10.9599

4.4506 -0.9783 12.8086 -10.7840

4.4942 -0.9537 13.1675 -10.6026

4.5379 -0.9294 13.5203 -10.4160

4.5815 -0.9051 13.8667 -10.2243

4.6251 -0.8810 14.2065 -10.0275

4.6688 -0.8569 14.5397 -9.8258

4.7124 -0.8330 14.8661 -9.6192

4.7560 -0.8091 15.1854 -9.4080

4.7997 -0.7854 15.4976 -9.1921

4.8433 -0.7617 15.8024 -8.9718

4.8869 -0.7381 16.0998 -8.7472

4.9306 -0.7145 16.3895 -8.5183

4.9742 -0.6910 16.6715 -8.2852

5.0178 -0.6676 16.9457 -8.0482

5.0615 -0.6442 17.2118 -7.8072

5.1051 -0.6209 17.4697 -7.5625

5.1487 -0.5976 17.7194 -7.3141

5.1924 -0.5743 17.9606 -7.0622

5.2360 -0.5511 18.1934 -6.8070

5.2796 -0.5279 18.4175 -6.5484

5.3233 -0.5047 18.6329 -6.2866

5.3669 -0.4816 18.8395 -6.0219

5.4105 -0.4585 19.0372 -5.7542

5.4542 -0.4355 19.2258 -5.4838

5.4978 -0.4124 19.4052 -5.2108

5.5414 -0.3894 19.5755 -4.9352

5.5851 -0.3664 19.7365 -4.6573

5.6287 -0.3434 19.8881 -4.3771

5.6723 -0.3204 20.0303 -4.0949

5.7160 -0.2975 20.1630 -3.8106

5.7596 -0.2746 20.2861 -3.5246

5.8032 -0.2516 20.3996 -3.2368

5.8469 -0.2287 20.5034 -2.9475

5.8905 -0.2058 20.5974 -2.6568

5.9341 -0.1829 20.6817 -2.3648

5.9778 -0.1600 20.7561 -2.0717

6.0214 -0.1372 20.8208 -1.7776

6.0650 -0.1143 20.8755 -1.4826

6.1087 -0.0914 20.9203 -1.1870

6.1523 -0.0686 20.9551 -0.8907

6.1959 -0.0457 20.9801 -0.5941

6.2396 -0.0229 20.9950 -0.2971

6.2832 -0.0000 21.0000 -0.0000

v2 v5 0 3.2912 0 -42.7855

0.0436 3.2913 -1.4359 -42.7752

0.0873 3.2915 -2.8712 -42.7445

0.1309 3.2918 -4.3051 -42.6933

0.1745 3.2923 -5.7369 -42.6216

0.2182 3.2930 -7.1659 -42.5294

0.2618 3.2938 -8.5916 -42.4169

0.3054 3.2947 -10.0131 -42.2841

0.3491 3.2958 -11.4298 -42.1309

0.3927 3.2971 -12.8410 -41.9576

0.4363 3.2985 -14.2461 -41.7641

0.4800 3.3001 -15.6443 -41.5506

0.5236 3.3019 -17.0351 -41.3170

0.5672 3.3039 -18.4176 -41.0637

0.6109 3.3060 -19.7914 -40.7905

0.6545 3.3084 -21.1556 -40.4978

0.6981 3.3110 -22.5097 -40.1855

0.7418 3.3138 -23.8530 -39.8539

0.7854 3.3168 -25.1848 -39.5030

0.8290 3.3201 -26.5045 -39.1330

0.8727 3.3236 -27.8115 -38.7440

0.9163 3.3275 -29.1051 -38.3363

0.9599 3.3316 -30.3847 -37.9099

1.0036 3.3361 -31.6497 -37.4651

1.0472 3.3409 -32.8995 -37.0020

1.0908 3.3461 -34.1334 -36.5208

1.1345 3.3517 -35.3509 -36.0217

1.1781 3.3578 -36.5513 -35.5048

1.2217 3.3643 -37.7340 -34.9704

1.2654 3.3713 -38.8986 -34.4186

1.3090 3.3790 -40.0443 -33.8495

1.3526 3.3872 -41.1706 -33.2634

1.3963 3.3961 -42.2770 -32.6605

1.4399 3.4058 -43.3629 -32.0408

1.4835 3.4163 -44.4277 -31.4046

1.5272 3.4277 -45.4708 -30.7519

1.5708 3.4401 -46.4918 -30.0829

1.6144 3.4537 -47.4901 -29.3977

1.6581 3.4685 -48.4650 -28.6962

1.7017 3.4847 -49.4162 -27.9785

1.7453 3.5025 -50.3430 -27.2445

1.7890 3.5221 -51.2449 -26.4941

1.8326 3.5437 -52.1213 -25.7270

1.8762 3.5677 -52.9717 -24.9430

1.9199 3.5942 -53.7955 -24.1416

1.9635 3.6238 -54.5921 -23.3220

2.0071 3.6569 -55.3608 -22.4835

2.0508 3.6941 -56.1011 -21.6247

2.0944 3.7359 -56.8122 -20.7441

2.1380 3.7834 -57.4934 -19.8396

2.1817 3.8374 -58.1437 -18.9083

2.2253 3.8993 -58.7623 -17.9464

2.2689 3.9705 -59.3480 -16.9489

2.3126 4.0532 -59.8996 -15.9090

2.3562 4.1498 -60.4154 -14.8173

2.3998 4.2636 -60.8935 -13.6611

2.4435 4.3989 -61.3315 -12.4224

2.4871 4.5615 -61.7262 -11.0757

2.5307 4.7591 -62.0734 -9.5841

2.5744 5.0024 -62.3673 -7.8931

2.6180 5.3065 -62.6001 -5.9198

2.6616 5.6930 -62.7601 -3.5350

2.7053 6.1942 -62.8305 -0.5303

2.7489 -6.8591 62.7850 3.4433

2.7925 -7.7656 62.5819 8.9966

2.8362 -9.0414 62.1512 17.2542

2.8798 -10.9065 61.3696 30.4104

2.9234 -13.7570 60.0058 53.0329

2.9671 -18.3348 57.5948 95.2677

3.0107 -26.0321 53.1390 180.5814

3.0543 -39.0520 44.4421 358.8744

3.0980 -57.6925 27.4138 674.8524

3.1416 -69.1150 0.0000 898.4955

3.1852 -57.6925 -27.4138 674.8524

3.2289 -39.0520 -44.4421 358.8744

3.2725 -26.0321 -53.1390 180.5814

3.3161 -18.3348 -57.5948 95.2677

3.3598 -13.7570 -60.0058 53.0329

3.4034 -10.9065 -61.3696 30.4104

3.4470 -9.0414 -62.1512 17.2542

3.4907 -7.7656 -62.5819 8.9966

3.5343 -6.8591 -62.7850 3.4433

3.5779 6.1942 62.8305 -0.5303

3.6216 5.6930 62.7601 -3.5350

3.6652 5.3065 62.6001 -5.9198

3.7088 5.0024 62.3673 -7.8931

3.7525 4.7591 62.0734 -9.5841

3.7961 4.5615 61.7262 -11.0757

3.8397 4.3989 61.3315 -12.4224

3.8834 4.2636 60.8935 -13.6611

3.9270 4.1498 60.4154 -14.8173

3.9706 4.0532 59.8996 -15.9090

4.0143 3.9705 59.3480 -16.9489

4.0579 3.8993 58.7623 -17.9464

4.1015 3.8374 58.1437 -18.9083

4.1452 3.7834 57.4934 -19.8396

4.1888 3.7359 56.8122 -20.7441

4.2324 3.6941 56.1011 -21.6247

4.2761 3.6569 55.3608 -22.4835

4.3197 3.6238 54.5921 -23.3220

4.3633 3.5942 53.7955 -24.1416

4.4070 3.5677 52.9717 -24.9430

4.4506 3.5437 52.1213 -25.7270

4.4942 3.5221 51.2449 -26.4941

4.5379 3.5025 50.3430 -27.2445

4.5815 3.4847 49.4162 -27.9785

4.6251 3.4685 48.4650 -28.6962

4.6688 3.4537 47.4901 -29.3977

4.7124 3.4401 46.4918 -30.0829

4.7560 3.4277 45.4708 -30.7519

4.7997 3.4163 44.4277 -31.4046

4.8433 3.4058 43.3629 -32.0408

4.8869 3.3961 42.2770 -32.6605

4.9306 3.3872 41.1706 -33.2634

4.9742 3.3790 40.0443 -33.8495

5.0178 3.3713 38.8986 -34.4186

5.0615 3.3643 37.7340 -34.9704

5.1051 3.3578 36.5513 -35.5048

5.1487 3.3517 35.3509 -36.0217

5.1924 3.3461 34.1334 -36.5208

5.2360 3.3409 32.8995 -37.0020

5.2796 3.3361 31.6497 -37.4651

5.3233 3.3316 30.3847 -37.9099

5.3669 3.3275 29.1051 -38.3363

5.4105 3.3236 27.8115 -38.7440

5.4542 3.3201 26.5045 -39.1330

5.4978 3.3168 25.1848 -39.5030

5.5414 3.3138 23.8530 -39.8539

5.5851 3.3110 22.5097 -40.1855

5.6287 3.3084 21.1556 -40.4978

5.6723 3.3060 19.7914 -40.7905

5.7160 3.3039 18.4176 -41.0637

5.7596 3.3019 17.0351 -41.3170

5.8032 3.3001 15.6443 -41.5506

5.8469 3.2985 14.2461 -41.7641

5.8905 3.2971 12.8410 -41.9576

5.9341 3.2958 11.4298 -42.1309

5.9778 3.2947 10.0131 -42.2841

6.0214 3.2938 8.5916 -42.4169

6.0650 3.2930 7.1659 -42.5294

6.1087 3.2923 5.7369 -42.6216

6.1523 3.2918 4.3051 -42.6933

6.1959 3.2915 2.8712 -42.7445

6.2396 3.2913 1.4359 -42.7752

6.2832 3.2912 0.0000 -42.7855

a2 a5

2.4 Calculul fortelor si momentelor de inertie Se aleg masele pentru fiecare element:

m1=1.5 kg

m2=0.5 kg

m3=7.8 kg

m4=0.8 kg

m5=5 kg

Se calculeaza fortele de greutate:

G1=m1*g=1.5*10=15 N

G2=m2*g=0.5*10=5 N

G3=m3*g=7.8*10=78 N

G4=m4*g=0.8*10=8 N

G5=m5*g=5*10=50 N

Momentele de inertie: Mi=-*JG

J==Mil=0

=0; =ct

JG2=0

Mi3=-3*JG3=1.661 Nm

3==23.25

JG3==0.071 kgm2Mi4=0

Mi5=02.4.2 Metoda analitica

Calculul acceleratiilor centrelor de masa

-Elementul 1 are centrul de masa in punctual G1 la distanta O1G1=a1=0.5l1=0.04375Componentele axiale sunt:

XG1=a1*sin1; YG1=a1*cos1

XG1=-a1*; YG1=-a1**cos-Elementul 2 are centrul de masa in punctual G2 la distanta O1G2=AG2+O1A

Componentele axiale sunt:

XG2=l1*sin1+a2*sin3YG2=l1*cos1+a2*cos3

a2=0

XG2=-l1*YG2=-l1*-Elementul 3 are centrul de masa in punctul G3 la distanta O1G3=O2G3-O2O1.Componentele axiale sunt:

XG3=a3*sin3; YG3=a3*cos3-l0XG3=-a3*()YG3=-a3*()-Elementul 4 are centrul de masa in punctul G4 la distanta O1G4=O2B+BG4-O2O1. Componentele axiale sunt:

XG4=l3*+a4*sin;

YG4=l3*+a4*cos4-l0a4=0

XG4=G3; YG4=G3-Elementul 5 are centrul de masa in punctul G5 la distanta O1G3=O1C+CD-DG3.

Componentele axiale sunt:

A5=0

XG5=S5 YG5=l 0

XG5=S5; YG5=02.4 Calculul fortelor si momentelor de inertie

Se aleg masele pentru fiecare element:

m1=1.5 kg

m2=0.5 kgm3=7.8 kgm4=0.8 kgm5=5 kgSe calculeaza fortele de greutate:

G1=1.5*10=15 N

G2=0.5*10=5 N

G3=7.8*10=78 N

G4=0.8*10=8 N

G5=5*10=50 N

Aceste component se calculeaza pentru fiecare bara, a carui masa se considera concentrata in centrul de masa:

Pentru manivela 1:

Pentru patina 2:

Pentru balansierul 3:

Pentru balansierul 4:

Pentru glisiera translanta 5:

=0

2.5 Calculul reactiunilor in cuplele cinematiceCinetostatica mecanismului cu bare urmareste: caluculul reactiunilor din cuplele cinematice fara frecare,calculul fortelor si cuplurilor de frecare din cuplele cinematice si calculul momentului motor ca moment de echilibru dynamic. Se cunosc fortele de greutate, forta de rezistenta tehnologica precum si fortele\cuplurile de inertie.

2.5.3 Metoda analitica

Calculul reactiunilor din cuplele cinematice(Fara frecare)

Formula structural-topologica a mecanismului este:

MM=MF(0.1)+LD(2.3)+LD(4.5)

Deoarece forta de rezistenta tehnologica Fmax actioneaza pe elemental cinematic condus 5 iar LD este static determinat, calculul cinetostatic se efectueaza in ordinea inversa celui cinematic.

Cinetostatica LD(4,5)

Se considera schema cinematica a LD(4,5) ca structura izolata,aflata in echilibru cinetostatic ,incarcata cu toate fortele exterioare si cu reactiunile din cuple.Se scriu ecuatiile de echilibru cinetostatic pentru fiecare din cele 2 elemente 4 si 5.

4=0

5=0Cinetostatica LD(2,3)Prin izolarea lantului cinematic dyadic format din elementele 2 si 3 se introduce in punctul B componentele reactiunii R43 calculate anterior,iar in punctele A si O2 se introduce componentle reactiunilor dinspre elementele 1 si respective 0.

Reacitunile din cupla interioara s-a introdus in punctul A prin forta R32 perpendiculara pe ghidajul comun O2B si momentul M32.

Ecuatiile de echiibru cinetostatic pentru fiecare din cele doua elemente cinematice 2 si 3 sunt doua de proiectii din una de momente:

2=0; 2=0; Sistemul format de cele 6 ecuatii liniare se rezolva prin metoda substitutiei

Cinetostatica manivelei 1

Se izoleaza manivelei 1 si se introduce camponentele reactiunii necunoscute din articulatia O1, ale reactiunii cunoscute din articulatia A precum si cuplul necunoscut de echilibru cinetostatic ce actioneaza asupra elementului conducator.Ecuatiile de echilibru cinetostatic al barei 1 sunt:

;

1=0; fi1 R54

0 0.0100

0.0000 0.0099

0.0000 0.0097

0.0000 0.0096

0.0000 0.0094

0.0000 0.0093

0.0000 0.0091

0.0000 0.0090

0.0000 0.0088

0.0000 0.0087

0.0000 0.0085

0.0000 0.0084

0.0000 0.0082

0.0000 0.0081

0.0000 0.0080

0.0000 0.0078

0.0000 0.0077

0.0000 0.0075

0.0000 0.0074

0.0000 0.0073

0.0000 0.0071

0.0000 0.0070

0.0000 0.0069

0.0000 0.0067

0.0000 0.0066

0.0000 0.0065

0.0000 0.0063

0.0000 0.0062

0.0000 0.0061

0.0000 0.0060

0.0000 0.0058

0.0000 0.0057

0.0000 0.0056

0.0000 0.0055

0.0000 0.0054

0.0000 0.0052

0.0000 0.0051

0.0000 0.0050

0.0000 0.0049

0.0000 0.0048

0.0000 0.0047

0.0000 0.0045

0.0000 0.0044

0.0000 0.0043

0.0000 0.0042

0.0000 0.0040

0.0000 0.0039

0.0000 0.0037

0.0000 0.0036

0.0000 0.0034

0.0000 0.0032

0.0000 0.0030

0.0000 0.0027

0.0000 0.0023

0.0000 0.0019

0.0000 0.0014

0.0000 0.0007

0.0000 -0.0002

0.0000 -0.0014

0.0000 -0.0031

0.0000 -0.0055

0.0000 -0.0091

0.0000 -0.0146

0.0000 0.0480

0.0000 0.0700

0.0000 0.1058

0.0000 0.1680

0.0000 0.2843

0.0000 0.5187

0.0000 1.0160

0.0000 1.9825

0.0000 2.7278

0.0000 0.0100

0.0000 -2.7078

0.0000 -1.9625

0.0000 -0.9960

0.0000 -0.4987

0.0000 -0.2643

0.0000 -0.1480

0.0000 -0.0858

0.0000 -0.0500

0.0000 -0.0280

0.0000 0.0346

0.0000 0.0291

0.0000 0.0255

0.0000 0.0231

0.0000 0.0214

0.0000 0.0202

0.0000 0.0193

0.0000 0.0186

0.0000 0.0181

0.0000 0.0177

0.0000 0.0173

0.0000 0.0170

0.0000 0.0168

0.0000 0.0166

0.0000 0.0164

0.0000 0.0163

0.0000 0.0161

0.0000 0.0160

0.0000 0.0158

0.0000 0.0157

0.0000 0.0156

0.0000 0.0155

0.0000 0.0153

0.0000 0.0152

0.0000 0.0151

0.0000 0.0150

0.0000 0.0149

0.0000 0.0148

0.0000 0.0146

0.0000 0.0145

0.0000 0.0144

0.0000 0.0143

0.0000 0.0142

0.0001 0.0140

0.0001 0.0139

0.0001 0.0138

0.0001 0.0137

0.0001 0.0135

0.0001 0.0134

0.0001 0.0133

0.0001 0.0131

0.0001 0.0130

0.0001 0.0129

0.0001 0.0127

0.0001 0.0126

0.0001 0.0125

0.0001 0.0123

0.0001 0.0122

0.0001 0.0120

0.0001 0.0119

0.0001 0.0118

0.0001 0.0116

0.0001 0.0115

0.0001 0.0113

0.0001 0.0112

0.0001 0.0110

0.0001 0.0109

0.0001 0.0107

0.0001 0.0106

0.0001 0.0104

0.0001 0.0103

0.0001 0.0101

0.0001 0.0100

fi1 R34x R34y

1.0e+005 *

0 -0.0100 0.0000

0.0000 -0.0099 0.0000

0.0000 -0.0097 0.0000

0.0000 -0.0096 0.0000

0.0000 -0.0094 0.0000

0.0000 -0.0093 0.0000

0.0000 -0.0091 0.0000

0.0000 -0.0090 0.0000

0.0000 -0.0088 0.0000

0.0000 -0.0087 0.0000

0.0000 -0.0085 0.0000

0.0000 -0.0084 0.0000

0.0000 -0.0083 0.0000

0.0000 -0.0081 0.0000

0.0000 -0.0080 0.0000

0.0000 -0.0078 0.0000

0.0000 -0.0077 0.0001

0.0000 -0.0076 0.0001

0.0000 -0.0074 0.0001

0.0000 -0.0073 0.0001

0.0000 -0.0071 0.0001

0.0000 -0.0070 0.0001

0.0000 -0.0069 0.0001

0.0000 -0.0067 0.0001

0.0000 -0.0066 0.0001

0.0000 -0.0065 0.0001

0.0000 -0.0064 0.0001

0.0000 -0.0062 0.0001

0.0000 -0.0061 0.0001

0.0000 -0.0060 0.0001

0.0000 -0.0059 0.0001

0.0000 -0.0057 0.0001

0.0000 -0.0056 0.0001

0.0000 -0.0055 0.0001

0.0000 -0.0054 0.0001

0.0000 -0.0053 0.0001

0.0000 -0.0051 0.0001

0.0000 -0.0050 0.0001

0.0000 -0.0049 0.0001

0.0000 -0.0048 0.0001

0.0000 -0.0047 0.0001

0.0000 -0.0046 0.0001

0.0000 -0.0044 0.0001

0.0000 -0.0043 0.0001

0.0000 -0.0042 0.0001

0.0000 -0.0041 0.0001

0.0000 -0.0039 0.0001

0.0000 -0.0038 0.0001

0.0000 -0.0036 0.0001

0.0000 -0.0034 0.0001

0.0000 -0.0032 0.0001

0.0000 -0.0030 0.0001

0.0000 -0.0027 0.0001

0.0000 -0.0024 0.0001

0.0000 -0.0020 0.0001

0.0000 -0.0014 0.0001

0.0000 -0.0008 0.0001

0.0000 0.0001 0.0001

0.0000 0.0013 0.0002

0.0000 0.0030 0.0002

0.0000 0.0054 0.0002

0.0000 0.0090 0.0003

0.0000 0.0145 0.0003

0.0000 -0.0479 -0.0008

0.0000 -0.0697 -0.0009

0.0000 -0.1054 -0.0012

0.0000 -0.1673 -0.0016

0.0000 -0.2831 -0.0023

0.0000 -0.5165 -0.0033

0.0000 -1.0116 -0.0053

0.0000 -1.9740 -0.0084

0.0000 -2.7161 -0.0120

0.0000 -0.0100 -0.0133

0.0000 2.6961 -0.0120

0.0000 1.9540 -0.0084

0.0000 0.9916 -0.0053

0.0000 0.4965 -0.0033

0.0000 0.2631 -0.0023

0.0000 0.1473 -0.0016

0.0000 0.0854 -0.0012

0.0000 0.0497 -0.0009

0.0000 0.0279 -0.0008

0.0000 -0.0345 0.0003

0.0000 -0.0290 0.0003

0.0000 -0.0254 0.0002

0.0000 -0.0230 0.0002

0.0000 -0.0213 0.0002

0.0000 -0.0201 0.0001

0.0000 -0.0192 0.0001

0.0000 -0.0186 0.0001

0.0000 -0.0180 0.0001

0.0000 -0.0176 0.0001

0.0000 -0.0173 0.0001

0.0000 -0.0170 0.0001

0.0000 -0.0168 0.0001

0.0000 -0.0166 0.0001

0.0000 -0.0164 0.0001

0.0000 -0.0162 0.0001

0.0000 -0.0161 0.0001

0.0000 -0.0159 0.0001

0.0000 -0.0158 0.0001

0.0000 -0.0157 0.0001

0.0000 -0.0156 0.0001

0.0000 -0.0154 0.0001

0.0000 -0.0153 0.0001

0.0000 -0.0152 0.0001

0.0000 -0.0151 0.0001

0.0000 -0.0150 0.0001

0.0000 -0.0149 0.0001

0.0000 -0.0147 0.0001

0.0000 -0.0146 0.0001

0.0000 -0.0145 0.0001

0.0000 -0.0144 0.0001

0.0000 -0.0143 0.0001

0.0000 -0.0141 0.0001

0.0001 -0.0140 0.0001

0.0001 -0.0139 0.0001

0.0001 -0.0138 0.0001

0.0001 -0.0136 0.0001

0.0001 -0.0135 0.0001

0.0001 -0.0134 0.0001

0.0001 -0.0133 0.0001

0.0001 -0.0131 0.0001

0.0001 -0.0130 0.0001

0.0001 -0.0129 0.0001

0.0001 -0.0127 0.0001

0.0001 -0.0126 0.0001

0.0001 -0.0124 0.0001

0.0001 -0.0123 0.0001

0.0001 -0.0122 0.0000

0.0001 -0.0120 0.0000

0.0001 -0.0119 0.0000

0.0001 -0.0117 0.0000

0.0001 -0.0116 0.0000

0.0001 -0.0115 0.0000

0.0001 -0.0113 0.0000

0.0001 -0.0112 0.0000

0.0001 -0.0110 0.0000

0.0001 -0.0109 0.0000

0.0001 -0.0107 0.0000

0.0001 -0.0106 0.0000

0.0001 -0.0104 0.0000

0.0001 -0.0103 0.0000

0.0001 -0.0101 0.0000

0.0001 -0.0100 0.0000

fi1 R32

1.0e+004 *

0 -0.0017

0.0000 -0.0016

0.0000 -0.0016

0.0000 -0.0016

0.0000 -0.0016

0.0000 -0.0015

0.0000 -0.0015

0.0000 -0.0015

0.0000 -0.0015

0.0000 -0.0015

0.0000 -0.0014

0.0000 -0.0014

0.0001 -0.0014

0.0001 -0.0014

0.0001 -0.0013

0.0001 -0.0013

0.0001 -0.0013

0.0001 -0.0013

0.0001 -0.0012

0.0001 -0.0012

0.0001 -0.0012

0.0001 -0.0012

0.0001 -0.0011

0.0001 -0.0011

0.0001 -0.0011

0.0001 -0.0011

0.0001 -0.0011

0.0001 -0.0010

0.0001 -0.0010

0.0001 -0.0010

0.0001 -0.0010

0.0001 -0.0010

0.0001 -0.0009

0.0001 -0.0009

0.0001 -0.0009

0.0002 -0.0009

0.0002 -0.0009

0.0002 -0.0008

0.0002 -0.0008

0.0002 -0.0008

0.0002 -0.0008

0.0002 -0.0008

0.0002 -0.0007

0.0002 -0.0007

0.0002 -0.0007

0.0002 -0.0007

0.0002 -0.0006

0.0002 -0.0006

0.0002 -0.0006

0.0002 -0.0006

0.0002 -0.0005

0.0002 -0.0005

0.0002 -0.0004

0.0002 -0.0004

0.0002 -0.0004

0.0002 -0.0003

0.0002 -0.0002

0.0002 -0.0001

0.0003 -0.0001

0.0003 0.0000

0.0003 0.0001

0.0003 0.0000

0.0003 -0.0003

0.0003 -0.0017

0.0003 -0.0061

0.0003 -0.0169

0.0003 -0.0444

0.0003 -0.1206

0.0003 -0.3529

0.0003 -1.1288

0.0003 -3.6466

0.0003 -7.8616

0.0003 -0.0350

0.0003 7.8043

0.0003 3.6101

0.0003 1.1068

0.0003 0.3395

0.0003 0.1122

0.0003 0.0392

0.0003 0.0138

0.0003 0.0045

0.0004 0.0011

0.0004 0.0002

0.0004 -0.0007

0.0004 -0.0012

0.0004 -0.0014

0.0004 -0.0016

0.0004 -0.0018

0.0004 -0.0019

0.0004 -0.0020

0.0004 -0.0020

0.0004 -0.0021

0.0004 -0.0021

0.0004 -0.0022

0.0004 -0.0022

0.0004 -0.0022

0.0004 -0.0022

0.0004 -0.0023

0.0004 -0.0023

0.0004 -0.0023

0.0004 -0.0023

0.0004 -0.0023

0.0004 -0.0023

0.0004 -0.0023

0.0005 -0.0023

0.0005 -0.0023

0.0005 -0.0023

0.0005 -0.0023

0.0005 -0.0023

0.0005 -0.0023

0.0005 -0.0023

0.0005 -0.0023

0.0005 -0.0023

0.0005 -0.0023

0.0005 -0.0023

0.0005 -0.0022

0.0005 -0.0022

0.0005 -0.0022

0.0005 -0.0022

0.0005 -0.0022

0.0005 -0.0022

0.0005 -0.0022

0.0005 -0.0021

0.0005 -0.0021

0.0005 -0.0021

0.0005 -0.0021

0.0005 -0.0021

0.0006 -0.0020

0.0006 -0.0020

0.0006 -0.0020

0.0006 -0.0020

0.0006 -0.0020

0.0006 -0.0019

0.0006 -0.0019

0.0006 -0.0019

0.0006 -0.0019

0.0006 -0.0019

0.0006 -0.0018

0.0006 -0.0018

0.0006 -0.0018

0.0006 -0.0018

0.0006 -0.0017

0.0006 -0.0017

0.0006 -0.0017

0.0006 -0.0017

fi1 R03x R03y

1.0e+005 *

0 -0.0102 0.0007

0.0000 -0.0100 0.0007

0.0000 -0.0099 0.0007

0.0000 -0.0097 0.0007

0.0000 -0.0096 0.0007

0.0000 -0.0094 0.0006

0.0000 -0.0093 0.0006

0.0000 -0.0091 0.0006

0.0000 -0.0090 0.0006

0.0000 -0.0089 0.0006

0.0000 -0.0087 0.0006

0.0000 -0.0086 0.0006

0.0000 -0.0084 0.0006

0.0000 -0.0083 0.0006

0.0000 -0.0081 0.0006

0.0000 -0.0080 0.0006

0.0000 -0.0079 0.0006

0.0000 -0.0077 0.0006

0.0000 -0.0076 0.0006

0.0000 -0.0074 0.0006

0.0000 -0.0073 0.0006

0.0000 -0.0072 0.0006

0.0000 -0.0070 0.0006

0.0000 -0.0069 0.0006

0.0000 -0.0068 0.0006

0.0000 -0.0067 0.0006

0.0000 -0.0065 0.0006

0.0000 -0.0064 0.0006

0.0000 -0.0063 0.0006

0.0000 -0.0061 0.0006

0.0000 -0.0060 0.0006

0.0000 -0.0059 0.0007

0.0000 -0.0058 0.0007

0.0000 -0.0057 0.0007

0.0000 -0.0055 0.0007

0.0000 -0.0054 0.0007

0.0000 -0.0053 0.0007

0.0000 -0.0052 0.0007

0.0000 -0.0051 0.0007

0.0000 -0.0050 0.0007

0.0000 -0.0048 0.0007

0.0000 -0.0047 0.0007

0.0000 -0.0046 0.0007

0.0000 -0.0045 0.0007

0.0000 -0.0043 0.0007

0.0000 -0.0042 0.0007

0.0000 -0.0041 0.0008

0.0000 -0.0039 0.0008

0.0000 -0.0038 0.0008

0.0000 -0.0036 0.0008

0.0000 -0.0034 0.0008

0.0000 -0.0031 0.0009

0.0000 -0.0029 0.0009

0.0000 -0.0025 0.0009

0.0000 -0.0021 0.0010

0.0000 -0.0016 0.0010

0.0000 -0.0010 0.0011

0.0000 -0.0001 0.0012

0.0000 0.0011 0.0013

0.0000 0.0027 0.0014

0.0000 0.0051 0.0016

0.0000 0.0086 0.0019

0.0000 0.0140 0.0022

0.0000 -0.0471 -0.0039

0.0000 -0.0685 -0.0046

0.0000 -0.1036 -0.0051

0.0000 -0.1649 -0.0047

0.0000 -0.2809 -0.0013

0.0000 -0.5200 0.0131

0.0000 -1.0508 0.0650

0.0000 -2.1904 0.2088

0.0000 -3.3664 0.2728

0.0000 -0.0135 -0.0777

0.0000 3.3413 0.2703

0.0000 2.1678 0.2063

0.0000 1.0296 0.0631

0.0000 0.4994 0.0119

0.0000 0.2607 -0.0021

0.0000 0.1448 -0.0052

0.0000 0.0836 -0.0054

0.0000 0.0485 -0.0047

0.0000 0.0271 -0.0040

0.0000 -0.0340 0.0022

0.0000 -0.0286 0.0019

0.0000 -0.0251 0.0017

0.0000 -0.0228 0.0016

0.0000 -0.0211 0.0015

0.0000 -0.0199 0.0014

0.0000 -0.0191 0.0013

0.0000 -0.0184 0.0012

0.0000 -0.0179 0.0012

0.0000 -0.0175 0.0012

0.0000 -0.0172 0.0011

0.0000 -0.0169 0.0011

0.0000 -0.0167 0.0011

0.0000 -0.0165 0.0011

0.0000 -0.0164 0.0010

0.0000 -0.0162 0.0010

0.0000 -0.0161 0.0010

0.0000 -0.0159 0.0010

0.0000 -0.0158 0.0010

0.0000 -0.0157 0.0010

0.0000 -0.0156 0.0010

0.0000 -0.0155 0.0010

0.0000 -0.0153 0.0009

0.0000 -0.0152 0.0009

0.0000 -0.0151 0.0009

0.0000 -0.0150 0.0009

0.0000 -0.0149 0.0009

0.0000 -0.0148 0.0009

0.0000 -0.0147 0.0009

0.0000 -0.0146 0.0009

0.0000 -0.0145 0.0009

0.0000 -0.0143 0.0009

0.0000 -0.0142 0.0009

0.0001 -0.0141 0.0008

0.0001 -0.0140 0.0008

0.0001 -0.0139 0.0008

0.0001 -0.0137 0.0008

0.0001 -0.0136 0.0008

0.0001 -0.0135 0.0008

0.0001 -0.0134 0.0008

0.0001 -0.0132 0.0008

0.0001 -0.0131 0.0008

0.0001 -0.0130 0.0008

0.0001 -0.0129 0.0008

0.0001 -0.0127 0.0008

0.0001 -0.0126 0.0008

0.0001 -0.0124 0.0007

0.0001 -0.0123 0.0007

0.0001 -0.0122 0.0007

0.0001 -0.0120 0.0007

0.0001 -0.0119 0.0007

0.0001 -0.0118 0.0007

0.0001 -0.0116 0.0007

0.0001 -0.0115 0.0007

0.0001 -0.0113 0.0007

0.0001 -0.0112 0.0007

0.0001 -0.0110 0.0007

0.0001 -0.0109 0.0007

0.0001 -0.0108 0.0007

0.0001 -0.0106 0.0007

0.0001 -0.0105 0.0007

0.0001 -0.0103 0.0007

0.0001 -0.0102 0.0007

fi1 R01x R01y

1.0e+004 *

0 0.0017 -0.0014

0.0000 0.0016 -0.0014

0.0000 0.0016 -0.0013

0.0000 0.0015 -0.0013

0.0000 0.0015 -0.0013

0.0000 0.0014 -0.0012

0.0000 0.0014 -0.0012

0.0000 0.0014 -0.0012

0.0000 0.0013 -0.0011

0.0000 0.0013 -0.0011

0.0000 0.0012 -0.0010

0.0000 0.0012 -0.0010

0.0001 0.0011 -0.0010

0.0001 0.0011 -0.0009

0.0001 0.0010 -0.0009

0.0001 0.0010 -0.0009

0.0001 0.0009 -0.0008

0.0001 0.0009 -0.0008

0.0001 0.0008 -0.0008

0.0001 0.0008 -0.0008

0.0001 0.0007 -0.0007

0.0001 0.0007 -0.0007

0.0001 0.0007 -0.0007

0.0001 0.0006 -0.0006

0.0001 0.0006 -0.0006

0.0001 0.0005 -0.0006

0.0001 0.0005 -0.0006

0.0001 0.0004 -0.0005

0.0001 0.0004 -0.0005

0.0001 0.0004 -0.0005

0.0001 0.0003 -0.0005

0.0001 0.0003 -0.0004

0.0001 0.0003 -0.0004

0.0001 0.0002 -0.0004

0.0001 0.0002 -0.0004

0.0002 0.0002 -0.0004

0.0002 0.0001 -0.0003

0.0002 0.0001 -0.0003

0.0002 0.0001 -0.0003

0.0002 0.0001 -0.0003

0.0002 0.0000 -0.0003

0.0002 0.0000 -0.0003

0.0002 -0.0000 -0.0003

0.0002 -0.0000 -0.0003

0.0002 -0.0000 -0.0002

0.0002 -0.0001 -0.0002

0.0002 -0.0001 -0.0002

0.0002 -0.0001 -0.0002

0.0002 -0.0001 -0.0002

0.0002 -0.0001 -0.0002

0.0002 -0.0002 -0.0002

0.0002 -0.0002 -0.0003

0.0002 -0.0002 -0.0003

0.0002 -0.0002 -0.0003

0.0002 -0.0002 -0.0003

0.0002 -0.0002 -0.0004

0.0002 -0.0002 -0.0004

0.0002 -0.0002 -0.0005

0.0003 -0.0002 -0.0006

0.0003 -0.0002 -0.0006

0.0003 -0.0002 -0.0007

0.0003 -0.0002 -0.0006

0.0003 -0.0002 -0.0003

0.0003 -0.0001 -0.0023

0.0003 0.0004 -0.0067

0.0003 0.0023 -0.0173

0.0003 0.0094 -0.0439

0.0003 0.0357 -0.1157

0.0003 0.1410 -0.3241

0.0003 0.6023 -0.9552

0.0003 2.5777 -2.5799

0.0003 7.0739 -3.4306

0.0003 0.0350 -0.0006

0.0003 -7.0223 -3.4056

0.0003 -2.5519 -2.5540

0.0003 -0.5905 -0.9366

0.0003 -0.1356 -0.3118

0.0003 -0.0332 -0.1077

0.0003 -0.0083 -0.0389

0.0003 -0.0019 -0.0142

0.0003 -0.0003 -0.0050

0.0004 0.0001 -0.0017

0.0004 0.0002 -0.0004

0.0004 0.0002 -0.0013

0.0004 0.0003 -0.0018

0.0004 0.0004 -0.0021

0.0004 0.0005 -0.0022

0.0004 0.0006 -0.0024

0.0004 0.0007 -0.0025

0.0004 0.0008 -0.0026

0.0004 0.0009 -0.0026

0.0004 0.0009 -0.0027

0.0004 0.0010 -0.0027

0.0004 0.0011 -0.0027

0.0004 0.0012 -0.0028

0.0004 0.0013 -0.0028

0.0004 0.0013 -0.0028

0.0004 0.0014 -0.0028

0.0004 0.0015 -0.0028

0.0004 0.0015 -0.0028

0.0004 0.0016 -0.0028

0.0004 0.0017 -0.0028

0.0004 0.0017 -0.0028

0.0004 0.0018 -0.0028

0.0005 0.0018 -0.0028

0.0005 0.0019 -0.0028

0.0005 0.0019 -0.0027

0.0005 0.0019 -0.0027

0.0005 0.0020 -0.0027

0.0005 0.0020 -0.0027

0.0005 0.0021 -0.0026

0.0005 0.0021 -0.0026

0.0005 0.0021 -0.0026

0.0005 0.0021 -0.0026

0.0005 0.0022 -0.0025

0.0005 0.0022 -0.0025

0.0005 0.0022 -0.0025

0.0005 0.0022 -0.0024

0.0005 0.0022 -0.0024

0.0005 0.0022 -0.0024

0.0005 0.0022 -0.0023

0.0005 0.0022 -0.0023

0.0005 0.0022 -0.0023

0.0005 0.0022 -0.0022

0.0005 0.0022 -0.0022

0.0005 0.0022 -0.0021

0.0005 0.0022 -0.0021

0.0006 0.0022 -0.0021

0.0006 0.0022 -0.0020

0.0006 0.0021 -0.0020

0.0006 0.0021 -0.0020

0.0006 0.0021 -0.0019

0.0006 0.0021 -0.0019

0.0006 0.0021 -0.0018

0.0006 0.0020 -0.0018

0.0006 0.0020 -0.0018

0.0006 0.0020 -0.0017

0.0006 0.0019 -0.0017

0.0006 0.0019 -0.0016

0.0006 0.0019 -0.0016

0.0006 0.0018 -0.0016

0.0006 0.0018 -0.0015

0.0006 0.0017 -0.0015

0.0006 0.0017 -0.0014

0.0006 0.0017 -0.0014

fi1 Me1

1.0e+003 *

0 0.0014

0.0000 0.0014

0.0001 0.0014

0.0001 0.0013

0.0002 0.0013

0.0002 0.0012

0.0003 0.0012

0.0003 0.0011

0.0003 0.0011

0.0004 0.0011

0.0004 0.0010

0.0005 0.0010

0.0005 0.0009

0.0006 0.0009

0.0006 0.0008 0.0007 0.0008

0.0007 0.0008

0.0007 0.0007

0.0008 0.0007

0.0008 0.0007

0.0009 0.0006

0.0009 0.0006

0.0010 0.0006

0.0010 0.0006

0.0010 0.0005

0.0011 0.0005

0.0011 0.0005

0.0012 0.0005

0.0012 0.0004

0.0013 0.0004

0.0013 0.0004

0.0014 0.0004

0.0014 0.0004

0.0014 0.0004

0.0015 0.0004

0.0015 0.0003

0.0016 0.0003

0.0016 0.0003

0.0017 0.0003

0.0017 0.0003

0.0017 0.0003

0.0018 0.0003

0.0018 0.0003

0.0019 0.0003

0.0019 0.0003

0.0020 0.0003

0.0020 0.0003

0.0021 0.0002

0.0021 0.0002

0.0021 0.0002

0.0022 0.0002

0.0022 0.0002

0.0023 0.0002

0.0023 0.0002

0.0024 0.0001

0.0024 0.0001

0.0024 0.0001

0.0025 0.0001

0.0025 0.0000

0.0026 0.0000

0.0026 -0.0000

0.0027 0.0000

0.0027 0.0001

0.0027 -0.0006

0.0028 -0.0022

0.0028 -0.0064

0.0029 -0.0177

0.0029 -0.0520

0.0030 -0.1697

0.0030 -0.6280

0.0031 -2.4297

0.0031 -6.2786

0.0031 -0.0305

0.0032 6.2328

0.0032 2.4054

0.0033 0.6157

0.0033 0.1633

0.0034 0.0484

0.0034 0.0157

0.0034 0.0052

0.0035 0.0016

0.0035 0.0004

0.0036 -0.0001

0.0036 0.0002

0.0037 0.0004

0.0037 0.0005

0.0038 0.0006

0.0038 0.0007

0.0038 0.0007

0.0039 0.0008

0.0039 0.0009

0.0040 0.0009

0.0040 0.0010

0.0041 0.0010

0.0041 0.0011

0.0041 0.0011

0.0042 0.0012

0.0042 0.0012

0.0043 0.0013

0.0043 0.0013

0.0044 0.0014

0.0044 0.0014

0.0045 0.0015

0.0045 0.0015

0.0045 0.0015

0.0046 0.0016

0.0046 0.0016

0.0047 0.0017

0.0047 0.0017

0.0048 0.0017

0.0048 0.0018

0.0048 0.0018

0.0049 0.0018

0.0049 0.0019

0.0050 0.0019

0.0050 0.0019

0.0051 0.0019

0.0051 0.0019

0.0051 0.0020

0.0052 0.0020

0.0052 0.0020

0.0053 0.0020

0.0053 0.0020

0.0054 0.0020

0.0054 0.0020

0.0055 0.0020

0.0055 0.0020

0.0055 0.0020

0.0056 0.0020

0.0056 0.0019

0.0057 0.0019

0.0057 0.0019

0.0058 0.0019

0.0058 0.0018

0.0058 0.0018

0.0059 0.0018

0.0059 0.0018

0.0060 0.0017

0.0060 0.0017

0.0061 0.0017

0.0061 0.0016

0.0062 0.0016

0.0062 0.0015

0.0062 0.0015

0.0063 0.0015

l0=input ('Introduceti l0=');l1=input ('Introduceti l1=');l3=input ('Introduceti l3=');lh=input ('Introduceti lh=');m1=input ('Introduceti m1=');m2=input ('Introduceti m2=');m3=input ('Introduceti m3=');m4=input ('Introduceti m4=');m5=input ('Introduceti m5=');g=input ('Introduceti g=');Jg1=input ('Introduceti Jg1=');Jg3=input ('Introduceti Jg3=');Fr=input ('Introduceti Fr=');omega1=input ('introduceti omega1=');p=input ('Introduceti pasul p=');fi1=0:p:2*pi;fi3=atan ((11.*sin(fi1))./(10+11.*cos(fi1)));s2=sqrt(10.*10+11.*11+2.*10.*11.*cos(fi1));s5=13.*sin(fi3);v2=-11.*omega1.*sin(fi1-fi3);omega3=(11.*omega1.*cos(fi1-fi3))./s2;v5=-13.*omega3.*cos(fi3);a2=-11.*omega1.*omega1.*cos(fi1-fi3)+s2.*omega3.*omega3;epsilon3=-(11.*omega1.*omega1.*sin(fi1-fi3)+2.*v2.*omega3)./s2;a5=-13.*omega3.*omega3.*sin(fi3)+13.*epsilon3.*cos(fi3);disp(' fi1 fi3 s2 s5' )[fi1',fi3',s2',s5']pause;plot(fi1,fi3,fi1,s2,fi1,s5)pause;disp(' fi1 omega3 v2 v5' )[fi1',omega3',v2',v5']pause;plot(fi1,omega3,fi1,v2,fi1,v5)pause;disp(' fi1 epsilon3 a2 a5' )pause;plot(fi1,epsilon3,fi1,a2,fi1,a5)pause;ag1x=-0.5.*l1.*omega1.*omega1.*sin(fi1);ag1y=-0.5.*l1.*omega1.*omega1.*cos(fi1);ag2x=-l1.*omega1.*omega1.*sin(fi1);ag2y=-l1.*omega1.*omega1.*cos(fi1);ag3x=-0.5.*l3.*(omega3.*omega3.*sin(fi3)-epsilon3.*cos(fi3));ag3y=-0.5.*l3.*(omega3.*omega3.*cos(fi3)-epsilon3.*sin(fi3));ag4x=2.*ag3x;ag4y=2.*ag3y;ag5x=a5;Fi1x=-m1.*ag1x;Fi1y=-m1.*ag1y;Fi2x=-m2.*ag2x;Fi2y=-m2.*ag2y;Fi3x=-m3.*ag3x;Fi3y=-m3.*ag3y;Fi4x=-m4.*ag4x;Fi4y=-m4.*ag4y;Fi5x=-m5.*ag5x;Mi3=-Jg3.*epsilon3;G1=m1.*g;G2=m2.*g;G3=m3.*g;G4=m4.*g;G5=m5.*g;R54=-Fi5x+Fr;R05=G5;R34x=-R54-Fi4x;R34y=-Fi4y+G4;R32=(R34x.*l3.*cos(fi3)+R34y.*l3.*sin(fi3)+0.5.*Fi3x.*l3.*cos(fi3)+0.5.*(Fi3y-G3).*l3.*sin(fi3)-Mi3)./s2;R12x=-R32.*cos(fi3)-Fi2x;R12y=-R32.*sin(fi3)-Fi2y+G2;R03x=-Fi3x+R34x+R32.*cos(fi3);R03y=R34y-Fi3y+G3+R32.*sin(fi3);R01x=R12x-Fi1x;R01y=R12y-Fi1y-G1;Me1=l1.*R12x.*cos(fi1)+l1.*R12y.*sin(fi1)-0.5.*l1*G1.*sin(fi1); disp(' fi1 R54' )[fi1',R54']pause;plot(fi1,R54)pause;disp(' fi1 R34x R34y')[fi1',R34x',R34y']pause;plot(fi1,R34x,fi1,R34y)pause;disp(' fi1 R32')[fi1',R32']pause;disp(' fi1 R03x R03y' )[fi1',R03x',R03y']pause;plot(fi1,R03x,fi1,R03y)pause;disp(' fi1 R12x R12y' )[fi1',R12x',R12y']pause;plot(fi1,R12x,fi1,R12y)pause;disp(' fi1 R01x R01y')[fi1',R01x',R01y']pause;plot(fi1,R01x,fi1,R01y)pause;disp(' fi1 Me1')[fi1',Me1']pause;plot(fi1,Me1)pause;0

1

2

3

4

5

6

7

-15

-10

-5

0

5

10

15

20

25

fi1

fi 3,s2,s5

Variatia lui fi3 ,s2,s5 functie de fi1