鉸鏈?zhǔn)筋€式破碎機(jī)機(jī)械原理設(shè)計

1、機(jī)械原理課程設(shè)計說明書題目： 鉸鏈?zhǔn)筋€式破碎機(jī)方案分析 班 級 ：姓 名 ：學(xué) 號 ：指導(dǎo)教師 ： 成 績 ：2011 年 9 月 26 日目 錄 一 設(shè)計題目1二 已知條件及設(shè)計要求32.1已知條件32.2設(shè)計要求3三. 機(jī)構(gòu)的結(jié)構(gòu)分析43.1六桿鉸鏈?zhǔn)狡扑闄C(jī)43.2四桿鉸鏈?zhǔn)狡扑闄C(jī)4四. 機(jī)構(gòu)的運動分析44.1六桿鉸鏈?zhǔn)筋€式破碎機(jī)的運動分析44.2四桿鉸鏈?zhǔn)筋€式破碎機(jī)的運動分析7五.機(jī)構(gòu)的動態(tài)靜力分析 105.1六桿鉸鏈?zhǔn)筋€式破碎機(jī)的靜力分析105.2四桿鉸鏈?zhǔn)筋€式破碎機(jī)的靜力分析16六. 工藝阻力函數(shù)及飛輪的轉(zhuǎn)動慣量函數(shù) 126.1工藝阻力函數(shù)程序 216.2飛輪的轉(zhuǎn)動慣量函數(shù)程序21七

2、 .對兩種機(jī)構(gòu)的綜合評價21八 . 主要的收獲和建議22九 . 參考文獻(xiàn)22一 設(shè)計題目：鉸鏈?zhǔn)筋€式破碎機(jī)方案分析二 已知條件及設(shè)計要求2.1 已知條件 圖1.1 六桿鉸鏈?zhǔn)狡扑闄C(jī) 圖1.2 工藝阻力 圖1.3 四桿鉸鏈?zhǔn)狡扑闄C(jī)圖(a)所示為六桿鉸鏈?zhǔn)狡扑闄C(jī)方案簡圖。主軸1的轉(zhuǎn)速為n1 = 170r/min，各部尺寸為：lO1A = 0.1m, lAB = 1.250m, lO3B = 1m, lBC = 1.15m, lO5C = 1.96m, l1=1m, l2=0.94m, h1=0.85m, h2=1m。各構(gòu)件質(zhì)量和轉(zhuǎn)動慣量分別為：m2 = 500kg, Js2 = 25.5kgm2,

3、 m3 = 200kg, Js3 = 9kgm2, m4 = 200kg, Js4 = 9kgm2, m5=900kg, Js5=50kgm2, 構(gòu)件1的質(zhì)心位于O1上，其他構(gòu)件的質(zhì)心均在各桿的中心處。D為礦石破碎阻力作用點，設(shè)LO5D = 0.6m，破碎阻力Q在顎板5的右極限位置到左極限位置間變化，如圖(b)所示，Q力垂直于顎板。圖(c)是四桿鉸鏈?zhǔn)筋€式破碎機(jī)方案簡圖。主軸1 的轉(zhuǎn)速n1=170r/min。lO1A = 0.04m, lAB = 1.11m, l1=0.95m, h1=2m, lO3B=1.96m，破碎阻力Q的變化規(guī)律與六桿鉸鏈?zhǔn)狡扑闄C(jī)相同，Q力垂直于顎板O3B，Q力作用點為

4、D，且lO3D = 0.6m。各桿的質(zhì)量、轉(zhuǎn)動慣量為m2 = 200kg, Js2=9kgm2，m3 = 900kg, Js3=50kgm2。曲柄1的質(zhì)心在O1 點處，2、3構(gòu)件的質(zhì)心在各構(gòu)件的中心。2.2 設(shè)計要求試比較兩個方案進(jìn)行綜合評價。主要比較以下幾方面：1. 進(jìn)行運動分析，畫出顎板的角位移、角速度、角加速度隨曲柄轉(zhuǎn)角的變化曲線。2. 進(jìn)行動態(tài)靜力分析，比較顎板擺動中心運動副反力的大小及方向變化規(guī)律，曲柄上的平衡力矩大小及方向變化規(guī)律。3. 飛輪轉(zhuǎn)動慣量的大小。三 機(jī)構(gòu)的結(jié)構(gòu)分析3.1六桿鉸鏈?zhǔn)狡扑闄C(jī)10BO5CD7116359823六桿鉸鏈?zhǔn)狡扑闄C(jī)拆分為機(jī)架和主動件，構(gòu)件組成的RRR

5、桿組，構(gòu)件組成的RRR桿組。21AO1 + +3.2四桿鉸鏈?zhǔn)狡扑闄C(jī)6AO33D5742B四桿鉸鏈?zhǔn)狡扑闄C(jī)拆分為機(jī)架和主動件，構(gòu)件組成的RRR桿組。21AO1 +四 機(jī)構(gòu)的運動分析4.1六桿鉸鏈?zhǔn)筋€式破碎機(jī)的運動分析（1）調(diào)用bark函數(shù)求主動件中2點的運動參數(shù)。見表4.1。表4.1形式參數(shù)n1n2n3kr1r2gamtwepvpap實值1201r120.00.0twepvpap（2）調(diào)用rrrk函數(shù)對由構(gòu)件組成的RRR桿組進(jìn)行運動分析。見表4.2。表4.2形式參數(shù)mn1n2n3k1k2r1r2twepvpap實值-124323r23r34twepvpap（3）調(diào)用rrrk函數(shù)對由構(gòu)件組成的R

6、RR桿組進(jìn)行運動分析。見表4.3。表4.3形式參數(shù)mn1n2n3k1k2r1r2twepvpap實值136545r35,r56twepvpap（4）六桿運動程序：#include "graphics.h"#include "subk.c"#include "draw.c"main()static double p202,vp202,ap202;static double t10,w10,e10,del;static double draw370,tdraw370,wdraw370,edraw370; static int ic; do

7、uble r12,r23,r34,r35,r56,r67,gam1; double pi,dr; double r2,vr2,ar2; int i; FILE *fp; r12=0.1; r34=1.0;r23=1.250; r56=1.96;r35=1.15; r67=0.6; gam1=0.0; pi=4.0*atan(1.0); w1=-170.0*2*pi/60.0;e1=0.0; del=15.0; dr=pi/180.0; p11=0.0;/*try again */ p12=0.0; p41=0.94; p42=-1.0; p61=-1.0; p62=0.85; printf(&

8、quot;n The Kinematic Parameters of Point6n"); printf("No THETA1 S7 V7 A7n"); printf(" deg rad rad/s rad/s/sn"); ic=(int)(360.0/del); for(i=0;i<=ic;i+)t1=(-i)*del*dr; bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(-1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap); rrrk(1,3,6,5,4,5,r35,r5

9、6,t,w,e,p,vp,ap); drawi=t1/dr; tdrawi=t5; wdrawi=w5; edrawi=e5;if(fp=fopen("file_ww.txt","w")=NULL) printf("Can't open this file./n"); exit(0); for(i=0;i<=ic;i+)printf("n%2d %12.3f %12.3f %12.3f%12.3fn",i+1,drawi,tdrawi,wdrawi,edrawi);fprintf(fp,"n

10、%2d %e %e %e %en",i+1,drawi,tdrawi,wdrawi,edrawi); if(i%18)=0)getch(); fclose(fp); getch(); draw1(del,tdraw,wdraw,edraw,ic);運算結(jié)果： The Kinematic Parameters of Point5No THETA1 T7 W7 E7 deg rad rad/s rad/s/s1 0.000 -1.658 0.346 3.9562 -15.000 -1.653 0.392 2.0023 -30.000 -1.647 0.400 -0.9324 -45.00

11、0 -1.641 0.362 -4.3555 -60.000 -1.637 0.274 -7.5066 -75.000 -1.633 0.146 -9.6127 -90.000 -1.632 -0.001 -10.1838 -105.000 -1.633 -0.145 -9.1659 -120.000 -1.637 -0.265 -6.90410 -135.000 -1.641 -0.345 -3.98111 -150.000 -1.646 -0.382 -1.00812 -165.000 -1.652 -0.377 1.51913 -180.000 -1.657 -0.341 3.29714

12、 -195.000 -1.662 -0.284 4.23715 -210.000 -1.666 -0.220 4.43616 -225.000 -1.668 -0.156 4.12117 -240.000 -1.670 -0.10 3.58418 -255.000 -1.671 -0.051 3.10519 -270.000 -1.672 -0.007 2.89820 -285.000 -1.672 0.036 3.06321 -300.000 -1.671 0.085 3.57122 -315.000 -1.669 0.142 4.24723 -330.000 -1.667 0.209 4.

13、79124 -345.000 -1.663 0.281 4.81725 -360.000 -1.658 0.346 3.956圖4.1六桿機(jī)構(gòu)顎板角位置、角速度、角加速度隨曲柄轉(zhuǎn)角的變化曲線4.2四桿鉸鏈?zhǔn)筋€式破碎機(jī)的運動分析（1）調(diào)用bark函數(shù)求主動件中2點的運動參數(shù)。見表4.4。表4.4形式參數(shù)n1n2n3kr1r2gamtwepvpap實值1201r120.00.0twepvpap（2）調(diào)用rrrk函數(shù)對由構(gòu)件組成的RRR桿組進(jìn)行運動分析。見表4.5。表4.5形式參數(shù)mn1n2n3k1k2r1r2twepvpap實值124323r23r34twepvpap（3）四桿運動程序：#incl

14、ude "graphics.h"#include "subk.c"#include "draw.c"main()static double p202,vp202,ap202;static double t10,w10,e10,del;static double draw370,tdraw370,wdraw370,edraw370; static int ic; double r12,r34,r23,r45,gam1; double pi,dr; double r2,vr2,ar2; int i; FILE *fp; r12=0.04;

15、 r34=1.96; r23=1.11; r45=0.6; gam1=0.0; pi=4.0*atan(1.0); w1=-170.0*2*pi/60.0; e1=0.0; del=15.0; dr=pi/180.0; p11=0.0;/*try again */ p12=0.0; p41=-0.95; p42=2.0; printf("n The Kinematic Parameters of Point6n"); printf("No THETA1 S3 V3 A3n"); printf(" deg rad rad/s rad/s/sn&q

16、uot;); ic=(int)(360.0/del); for(i=0;i<=ic;i+) t1=(-i)*del*dr; bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap); drawi=t1/dr; tdrawi=t3; wdrawi=w3; edrawi=e3; if(fp=fopen("file_ww.txt","w")=NULL) printf("Can't open this file./n"); e

17、xit(0); for(i=0;i<=ic;i+)printf("n%2d %12.3f %12.3f %12.3f%12.3fn",i+1,drawi,tdrawi,wdrawi,edrawi);fprintf(fp,"n%2d %e %e %e %en",i+1,drawi,tdrawi,wdrawi,edrawi); if(i%18)=0)getch(); fclose(fp); getch(); draw1(del,tdraw,wdraw,edraw,ic);運算結(jié)果： The Kinematic Parameters of Point3N

18、o THETA1 S3 V3 A3 deg m m/s m/s/s1 0.000 -1.632 0.014 -6.2322 -15.000 -1.632 -0.077 -6.0983 -30.000 -1.634 -0.163 -5.5914 -45.000 -1.637 -0.240 -4.7315 -60.000 -1.641 -0.301 -3.5536 -75.000 -1.646 -0.343 -2.1177 -90.000 -1.651 -0.362 -0.5018 -105.000 -1.656 -0.357 1.1929 -120.000 -1.661 -0.327 2.848

19、10 -135.000 -1.666 -0.274 4.33911 -150.000 -1.669 -0.201 5.54412 -165.000 -1.671 -0.113 6.35813 -180.000 -1.672 -0.016 6.70314 -195.000 -1.672 0.082 6.54515 -210.000 -1.670 0.174 5.89416 -225.000 -1.667 0.253 4.80717 -240.000 -1.663 0.313 3.38418 -255.000 -1.658 0.351 1.74619 -270.000 -1.653 0.364 0

20、.03020 -285.000 -1.647 0.352 -1.63921 -300.000 -1.642 0.317 -3.14922 -315.000 -1.638 0.261 -4.41523 -330.000 -1.635 0.189 -5.37524 -345.000 -1.632 0.105 -5.98825 -360.000 -1.632 0.105 -5.988圖4.1四桿機(jī)構(gòu)顎板角位置、角速度、角加速度隨曲柄轉(zhuǎn)角的變化曲線五.機(jī)構(gòu)的動態(tài)靜力分析5.1六桿鉸鏈?zhǔn)筋€式破碎機(jī)的靜力分析（1）調(diào)用bark函數(shù)對主動件進(jìn)行運動分析。見表4.1。（2） 調(diào)用rrrk函數(shù)對由構(gòu)件組成的RR

21、R桿組進(jìn)行運動分析。見表4.2。（3） 調(diào)用rrrk函數(shù)對由構(gòu)件組成的RRR桿組進(jìn)行運動分析。見表4.3。（4）求各構(gòu)件的質(zhì)心11、8、9、10點及礦石破碎阻力作用點7點的運動參數(shù)。見表5.1表5.5。表5.1 7點運動參數(shù)形式參數(shù)n1n2n3kr1r2gamtwepvpap實值60750.0r670.0twepvpap表5.2 8點運動參數(shù)形式參數(shù)n1n2n3kr1r2gamtwepvpap實值20820.0r23/20.0twepvpap表5.3 9點運動參數(shù)形式參數(shù)n1n2n3kr1r2gamtwepvpap實值40930.0r34/20.0twepvpap表5.4 10點運動參數(shù)形式參

22、數(shù)n1n2n3kr1r2gamtwepvpap實值301040.0r35/20.0twepvpap表5.5 11點運動參數(shù)形式參數(shù)n1n2n3kr1r2gamtwepvpap實值601150.0r56/20.0twepvpap（5）調(diào)用rrrf對由桿組成的RRR桿組進(jìn)行靜力分析。見表5.6。表5.6形式參數(shù)n1n2n3ns1ns2nn1nn2nexfk1k2pvpaptwefr實值365101107745pvpaptwefr（6）調(diào)用rrrf對由桿組成的RRR桿組進(jìn)行靜力分析。見表5.7。表5.7形式參數(shù)n1n2n3ns1ns2nn1nn2nexfk1k2pvpaptwefr實值2438903

23、023pvpaptwefr（7）調(diào)用barf對主動件進(jìn)行靜力分析。見表5.8。表5.8形式參數(shù)n1ns1nn1k1papefrtb實值1121papefr&tb六桿受力程序#include "graphics.h"#include "subk.c"#include "subf.c"#include "draw.c"main() static double p202,vp202,ap202,del; static double t10,w10,e10,tbdraw370,tb1draw370,fr1draw3

24、70,sita1370,fr2draw370,sita2370,fr3draw370,sita3370; static double fr202,fe202; static int ic; double r12,r34,r23,r35,r47,r56,r67; double gam1,gam2,tb; int i; double pi,dr,fr6,bt6,we1,we2,we3,we4,we5,tb1; FILE*fp; char *m="tb","tb1","fr1","","fr2" sm

25、1=0.0;sm2=500.0;sm3=200.0;sm4=200.0;sm5=900.0;sj1=0.0; sj2=25.2;sj3=9.0;sj4=9;sj5=50.0; r12=0.1; r34=1.0;r23=1.250; r56=1.96;r35=1.15; r67=0.6; pi=4.0*atan(1.0);dr=pi/180.0; w1=-170.0*2*pi/60.0;e1=0.0;del=15.0; p11=0.0; p12=0.0; p41=0.94; p42=-1.0; p61=-1.0; p62=0.85; printf("n The Kineto-stati

26、c Analysis of a Six-bar Linkasen");printf(" NO THETA1 FR1 BT TB TB1n");printf(" (deg.) (N) (deg.) (N.m) (N.m)n"); if(fp=fopen("file.txt","w")=NULL) printf("Can't open this file./n"); exit(0); fprintf(fp,"n The Kineto-static Analysis of

27、a Six-bar Linkasen");fprintf(fp,"NO THETA1 FR1 FR2 BT2 TB TB1n" );fprintf(fp," (deg.) (N) (deg.) (N) (deg.) (N.m)(N.m)n" ); ic=(int)(360.0/del); for(i=0;i<=ic;i+) t1=(double)(-i)*del*dr); bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(-1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap); r

28、rrk(1,3,6,5,4,5,r35,r56,t,w,e,p,vp,ap); bark(6,0,7,5,0.0,r67,0.0,t,w,e,p,vp,ap); bark(2,0,8,2,0.0,r23/2,0.0,t,w,e,p,vp,ap); bark(4,0,9,3,0.0,r34/2,0.0,t,w,e,p,vp,ap); bark(3,0,10,4,0.0,r35/2,0.0,t,w,e,p,vp,ap); bark(6,0,11,5,0.0,r56/2,0.0,t,w,e,p,vp,ap); rrrf(3,6,5,10,11,0,7,7,4,5,p,vp,ap,t,w,e,fr);

29、 rrrf(2,4,3,8,9,0,3,0,2,3,p,vp,ap,t,w,e,fr); barf(1,1,2,1,p,ap,e,fr,&tb); fr6=sqrt(fr61*fr61+fr62*fr62); bt6=atan2(fr62,fr61); we1=-(ap11*vp11+(ap12+9.81)*vp12)*sm1-e1*w1*sj1; we2=-(ap81*vp81+(ap82+9.81)*vp82)*sm2-e2*w2*sj2; we3=-(ap91*vp91+(ap92+9.81)*vp92)*sm3-e3*w3*sj3; we4=-(ap101*vp101+(ap1

30、02+9.81)*vp102)*sm4-e4*w4*sj4; extf(p,vp,ap,t,w,e,7,fe); we5=-(ap111*vp111+(ap112+9.81)*vp112)*sm5-e5*w5*sj5+fe71*vp71+fe72*vp72; tb1=-(we1+we2+we3+we4+we5)/w1; printf("%2d %10.3f %10.3f %10.3f %10.3f %10.3f n",i+1,t1/dr,fr6,bt6/dr,tb,tb1);fprintf(fp,"%2d %10.3f %10.3f %10.3f %10.3f %

31、10.3f",i+1,t1/dr,fr6,bt6/dr,tb,tb1); tbdrawi=tb; tb1drawi=tb1; fr1drawi=fr6;sita1i=bt6; fr2drawi=fr6;sita2i=bt6; fr3drawi=fr6;sita3i=bt6; if(i%16)=0)getch(); fclose(fp); getch(); draw2(del,tbdraw,tb1draw,ic,m); draw3(del,sita1,fr1draw,sita2,fr2draw,sita3,fr3draw,ic,m); extf(p,vp,ap,t,w,e,nexf,f

32、e)double p202,vp20,ap202,t10,w10,e10,fe202;int nexf; double pi,dr; pi=4.0*atan(1.0);dr=pi/180.0;if(t1/dr<=-90.0&&t1/dr>=-273.0) fenexf1=-85000.0/(-183.0*dr)*(t1+90*dr)*sin(t5);fenexf2=85000.0/(-183.0*dr)*(t1+90*dr)*cos(t5);else fenexf1=0.0; fenexf2=0.0; 運行結(jié)果： The Kineto-static Analysis

33、 of a Six-bar LinkaseNO THETA1 FR4 BT2 TB TB1(deg.) (N) (deg.) (N.m) (N.m) 1 0.000 9904.580 77.690 534.454 534.454 2 -15.000 10248.086 82.670 1038.448 1038.448 3 -30.000 10522.852 89.576 1434.905 1434.905 4 -45.000 10757.314 97.329 1548.067 1548.067 5 -60.000 10967.175 104.339 1271.113 1271.113 6 -7

34、5.000 11112.158 109.009 644.146 644.146 7 -90.000 11132.496 110.330 -144.853 -144.853 8 -105.000 13340.278 128.365 -883.912 -883.912 9 -120.000 16136.071 138.884 -1407.468 -1407.46810 -135.000 19120.284 145.429 -1625.253 -1625.25311 -150.000 22280.557 150.044 -1557.401 -1557.40112 -165.000 25724.638

35、 153.629 -1290.413 -1290.41313 -180.000 29550.567 156.506 -928.440 -928.44014 -195.000 33789.984 158.781 -562.443 -562.44315 -210.000 38396.542 160.527 -258.404 -258.40416 -225.000 43263.326 161.841 -55.542 -55.54217 -240.000 48254.151 162.844 33.747 33.74718 -255.000 53236.591 163.653 24.768 24.768

36、19 -270.000 58109.329 164.367 -39.786 -39.78620 -285.000 8481.823 78.617 -205.535 -205.53521 -300.000 8583.465 77.292 -339.048 -339.04822 -315.000 8793.293 75.658 -361.780 -361.78023 -330.000 9113.158 74.602 -227.795 -227.79524 -345.000 9506.210 75.059 80.792 80.79225 -360.000 9904.580 77.690 534.45

37、4 534.454圖5.2六桿機(jī)構(gòu)顎板擺動中心運動副反力的大小及方向變化規(guī)律圖5.1 六桿機(jī)構(gòu)曲柄上的平衡力矩的變化規(guī)律5.2四桿鉸鏈?zhǔn)筋€式破碎機(jī)的靜力分析（1）調(diào)用bark函數(shù)對主動件進(jìn)行運動分析。見表4.4。（2） 調(diào)用rrrk函數(shù)對由構(gòu)件組成的RRR桿組進(jìn)行運動分析。見表4.5。（3）求各構(gòu)件的質(zhì)心6、7點及礦石破碎阻力作用點5點的運動參數(shù)。見表5.9表5.11。表5.9 5點運動參數(shù)形式參數(shù)n1n2n3kr1r2gamtwepvpap實值40530.0r450.0twepvpap表5.10 6點運動參數(shù)形式參數(shù)n1n2n3kr1r2gamtwepvpap實值20620.0r23/20.

38、0twepvpap表5.11 7點運動參數(shù)形式參數(shù)n1n2n3kr1r2gamtwepvpap實值40730.0r34/20.0twepvpap（4）調(diào)用rrrf對由桿組成的RRR桿組進(jìn)行靜力分析。見表5.12。表5.12形式參數(shù)n1n2n3ns1ns2nn1nn2nexfk1k2pvpaptwefr實值2436705523pvpaptwefr（5）調(diào)用barf對主動件進(jìn)行靜力分析。見表5.13表5.13形式參數(shù)n1ns1nn1k1papefrtb實值1121papefr&tb四桿力程序：#include "graphics.h"#include "sub

39、k.c"#include "subf.c"#include "draw.c"main() static double p202,vp202,ap202,del; static double t10,w10,e10,tbdraw370,tb1draw370,fr1draw370,sita1370,fr2draw370,sita2370,fr3draw370,sita3370; static double fr202,fe202; static int ic; double r12,r34,r23,r45,r47,r36,f; double gam

40、1,gam2,tb; int i; double pi,dr,fr4,bt4,we1,we2,we3,tb1; FILE*fp; char *m="tb","tb1","fr1","","fr2" sm1=0.0;sm2=200.0;sm3=900.0;sj1=0.0; sj2=9.0; sj3=50.0; r12=0.04; r34=1.96; r23=1.11; r45=0.6; gam1=0.0; gam2=0.0; pi=4.0*atan(1.0);dr=pi/180.0; w1=-17

41、0.0*2*pi/60.0;e1=0.0;del=15.0; p11=0.0;/*try again */ p12=0.0; p41=-0.95; p42=2.0;printf("n The Kineto-static Analysis of a Six-bar Linkasen");printf(" NO THETA1 FR1 BT1 TB TB1 f n");printf(" (deg.) (N) (deg.) (N.m) (N.m) (N) n"); if(fp=fopen("file.txt","

42、w")=NULL) printf("Can't open this file./n"); exit(0); fprintf(fp,"n The Kineto-static Analysis of a Six-bar Linkasen");fprintf(fp,"NO THETA1 FR1 FR2 BT2 TB TB1n" );fprintf(fp," (deg.) (N) (deg.) (N) (deg.) (N.m) (N.m)n" ); ic=(int)(360.0/del); for(i=0;i<=ic;i+) t1=(double)(-i)*del*dr); bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap); bark(4,0,5,3,0.0,r45,0.0,t,w,e,p,vp,ap); bark(4,0,7,3,0.0,r34/2,0.0,t,w,e,p,vp,ap); bark