ࡱ> _ RV bjbjDxbb6 $(((Px,,(Q""""ZQ\Q\Q\Q\Q\Q\Q$SVPQ!""QQ!!!ZQ!ZQ!!HLEZnJ(FQQ0QJhV pVPLLV~M"0R"!tH"""QQp """QV""""""""" , : DN4 ,{mQJ\hQV'Yf[u:ghRez[ \OTffNen(W܏yRl:SvMOn0bNg~ bNُNeHh0YV1@b:y & & lReHheQv;N & & cke-Nh:yirtϑv&{S h:yp0~0bvW[kGW(uTimes New RomaneSO h:yl[ϑUSMO0͋4Yv&{S0QpeI{ Sf[CQ }&{SGW(uTimes New RomanckSO0 & & 4 t{ & & 5 ]\OStS'`Rg & & [b6R\OT \OT[irYb_gqGrV90 6 RepS^(u  HJ`bdhj l 0 4 > @ D H b d f ȹthtx CJ OJPJ\aJ o(htx CJ PJ\o(htx 5CJPJaJhO?htx 5CJOJQJaJhO?htx CJOJQJaJo(hO?htx CJOJQJaJ"hO?htx 5CJ OJQJaJ o(h'htx 5CJOJPJaJh'CJaJo(h'htx CJaJo(- ,HV 2 @ F d f  \ h WD`gdtx @&gdtx $XD2YD2a$gdtx $d,1$a$gdtx 0d,WD`0gdtx $a$gdtx UD XD2]gd'  & , . 4 P \ f h l | p r v  "кຠ痺ufuhtx CJKHOJPJQJo(htx CJOJPJQJo(htx CJPJhtx 5CJOJPJ\htx CJPJ\htx 5CJPJ\o(htx 5CJOJPJ\o(htx 5CJPJ\htx CJPJ\o(htx CJOJQJ htx CJ htx CJo(htx CJOJQJo(htx CJ OJPJ\aJ (h | p r "tz|YD2gdtx $1$WD`a$gdtx $1$YD2a$gdtx WDdXD2YD2`gdtx WD`gdtx XD2YD2gdtx Nlrtx|>ʿ|t|geUhtx 5CJOJPJQJjhtx Uhtx 5CJPJhtx 5CJOJPJQJo( htx CJ\htx CJ\o(htx 5CJOJPJ\htx 5CJOJPJ\o(htx 5CJPJ\ htx CJhtx 6CJ]htx 6CJ]o(htx CJOJQJo(htx CJOJQJ htx CJo("@r~6 $1$`a$gdtx gdtx $1$WD`a$gdtx @&XD2YD2gdtx WD`gdtx XD2YD2gdtx 1 (uNT N T{|WvlPf[y N T0llSؚ^ N T Lpl0 2 d\OTc6R{O NUO]\ONXT_[f0WO(u[0 3 & & 0 (WeuTX̑(gl0u lNvpeϑ_Y @b gvllňn9eۏ Vdk^(uMRof_^0 V & & cke-Nh:yirtϑv&{S h:yp0~0bvW[kGW(uTimes New RomaneSO h:yl[ϑUSMO0͋4Yv&{S0QpeI{ Sf[CQ }&{SGW(uTimes New RomanckSO0 & & zzNL 1 lRc6R:ggStV Se.s xxx xxxS͑g!jWWS:ghVNsrTSU\:ghVN 2001 23(3)275-279 xxx:ghVNb/gW@xxxxxxxQHr>y 199615-47 xxxxx xxxxxxx xxxы:ghVNd\Ovpef[[xxxxQHr>y 199811-67 Lee H Y, Reinholtz C F. Inverse kinematics of serial-chain manipulators[J]. ASME Journal of Mechanical Design. 1996, 118(3): 396-404     PAGE  PAGE \* MERGEFORMAT2 >@|~.46l$&46<NZbjlúú硔htx CJOJPJ\o(htx 5CJOJPJQJo(htx CJOJQJhtx 6CJ]htx 6CJ]o( htx CJ htx CJo(htx <CJOJQJo(htx CJOJQJo(htx CJKHOJQJo(76x  )1$WD`)gd.e & Fgdtx $a$gdtx @&XD2YD2gdtx WD`gdtx gdtx        D F H J L R T V ºh.eh.emHnHsHuhAjhAUhj hj0Jjhj0JUhXujhXuU#htx h1CJKHOJQJ^Jo(htx htx CJ\     L N P R T V )1$WD`)gd.e$a$ &`#$gd> :182P/R :p3wE. A!"#$%S7 :&P 182P:p3wE. A!"#$%7 nMjT|>/18!PNG  IHDRgsRGB pHYs.>MXIDATx^ řcFnP@T;ځ\%yH\&jn'֭5H hXJ=ׯrdc uSMMDx,$_vh_ïGuf^%B{j[њDhO- pԼ"qk8ZW$nGk=SĭY@h^"8zj^5 KGO+f5{8x,]hb$cjqF \'Mrdc6<-`ޠ M:jͼGk8?q8w`+쀣+%seL#0bz+C4MQ$Co89j.sh8Z+wvU F GYђy 9w2 b0ÚS>>㈖EuD G Vi(`6 YbjV-&w:>$P9sHBM,ԑV$$:7$Z4َ#PG#IAhСXfdXbt9:#ʡbkb$bmpccikd]ʕXUUG4V͘I"B[(p䷀QHd{ēXS %0‹/Ox0 KCDnדG㠝5kȯHuGmCf3=x nLsS8?L˗cjpK  YVڊzgQ 򔆨;J A5q[^;z @蠅TuxbT]*U/ymyjv׌!ytP0&4<0QǑ6Y⅒(,GK]{ENΣE" " "V#ϝ]eg ֥PTn@ÍnϜFMGQl<";CMP%N@Q3-*FC'MGCD+H@vqZ Z8i+r53*bDYJ&W)CY$_O_D,q&x,!I{\󎞽v `tJv51Ӳ!/ۊ.ZVvjiYLzT|BHT8FG]&v'Jщ *P*8D1"it#R7Й%y[wقE.O8q| l{Zʹ'SM )%y潛? ǎ%8~|-Qz(m0gT1-ɷH;qEzgIDx#IZ|U]d董#ĉ$F1ϚTGL~և"B2Ĵw& (B>v4n'g-^"֭_az0.,'2oq$W/UX0\Vh9 i[__ "l|yjcЭ˭!ةS;?UU BM,ԑV&!׬ZZQMHՒu Y,Q͔1%8X)cTK>-p dD5SǨ| [bjQ-@^1L Znc %8zT}2v +pc5# =2H֎vyx/ X#;rIDhj"G8zdX Y{u#w,kɿGTVhj8_sοfB0iV8r* ٚ;wi̱c,Z [2ꂸfF|!ر}k%|c#adž5V7rbΜSXoLH#"! / oL$tPV+V-&{hI[ѪŌ§ g8:S$Ggˎ͌wt3%pNYJ!(dQ ,$КGݴMkZ@Ѐ"8iMКGm2vwheGB8/?g1'"#eN|aG(a7B#zQ%0Tٳ@L$Z9siDaҙEl. DG`OKޏB,<4oޑseeY͕A殚͛WU*J{7gSۿ,3f-C1bΝA%8O;r**.VTRM݇l޼D_q`Qf~#^pEfcVw/RSX r87mRuk//I&bqs˖%R[._>ݥ-/eC+m>A" nǕT ˥nѧE Rfq̲f ˗0ilmDh̢gϞݢϒ5ei(%{'kQ\lQQOM!zuS&( g~W^yugZtMDhԙf 'džW9 no%^WWQUYu饞{i׶7)x:EQ4!hESFG$eǷ]]ҢxF^ zl6+wMDq |Xn}El٢0ٽYyP0%8 ohW'w7_hӺY-`ygϚmG&/.sjzNG[Is}MqL]UGZjYg6V}EGDGAmTCc3Cnϛ ~X/{aqHYŭkO-_ϟ:;x}־uuMMxO:Ǎbb9y)2 LKcL_ץy9r*^Yp1hJ@*E$*軘~wfYDuжm[Cܹkjt{O, ;ݢbAj& e>hC"= <؋ eqt҉Yw|L[رcw3r`uեt#;gҤ'agܭ,7Ax@ :Cqg:;<$5kgaDgPՑV9K`z\2Ç#8@dϲ|`Osժ8qٛsßJ{828"28G=1\oD풾]~{l E ʀ;BYٟ(؝<_mk$%̽LG(BXj;EQDEFGmͶQpĤ" 4l>,5 r%mhVDGqܮwfEm6s֊)}w@qb@(ygG6 iwĂm=|Oy eqDR(Iws0ʞwFq'=GnpDztOGV&ia;)]S§WM0(#'~ٸq'Llm8'rS27P"w^7n["1#E@W@lK_)x#f;͂"5, Y/P1- ϯDڿ Ū#E %#rPm&V@r%IYbz((Nq+.rA "~Qnpփk3fضa#G},g߭ιJud3H;:U͔oS^D%owJYXw1a;j lRL"] W8 Ʀƹo-{ 8f[s,MSW}s>#5fY\  bW_<}ff?>=@]kdA]<1S*oXt<{|g3B%@'⬟~Ɋ=|O!*,j}̕Gdi#ICt>j/ rŷ?Ad|Cz_ ®2 L'8.&WJ<Ku+!D>۷{uO_t&D>::[ɪ+ST ] ݟtRlݮ!M+WxºAD&:V'YMz4<(:A'!s7/]tgW0knzD;D4f(q&C LުelU$H[ζ, nfbtk),SSkm6KlZM wV\L:z8% ="m1Cz\S2Dc6)j'k'7o=Kadik_nB'=.P1p$P:z&ut;-B;(jjBzraejkcFS VTkE&5Z2 i\Mm {gG$;lkׅ`E@!L!M;q-fR-E-ˋZOm l2֢B9# D,E:v)o߁vqˏjA[86PPH eCƫ*R+ġN[/R[<ġPP&rB {٤C+RXTRV^нYKͯę>0xN 9&X`}O{?+!5218WY2NR1g}7(c5vOw-vBY+ecpF\e;&sO^_rJN8u:qx'& kW~Eqc;.DAW3)L&M+u7=rzc".w8%]՛&d^[a؅lX&3{3ƳTR#XT/*L|`8u9S6ssʵ:~fGd_Ͳ)x X,o2f'L JC)ƷDp|PD(sOB'L6k˖=c<H#o:"5 w?.&O̺W~_#^1 28b>˕Jt(G֮%Nyu}|رǏ>2-֔xVm3j&>((Mc0TFѣ#:e9gdHBVF}FGŒkCl MTs7yr,~n+QD>M-/?XHs{rpe}7J#飡mY-kk B/YJߜ"W(b}7P G` t {ڪ~mVPSh[<>oZy[0-w?[={F_wϏNa)dşn^_VG0HadܙvE.tf_^9Ƒj/Vz9E$8k=W%[,,lqش9- 4K4+jt#G+#3jB~X՟}l:!rY(p 88Pts8JpY}cm3&DBhB1XuGQW(_EI{Y<Ij @i݊^-3d07:ss@*`Aߦ ۸'E*?]TY<@pPuQovfJ082PIQ2Ȥbվ9j1g B9ty (D/@ GJ"O#fAP p8PjW C>W}؛(D1P\? fQJ% "G39#^|c (Z8F~ǀP'pVyj/heO gv7$gLh|_F*k-g("0)a]Ba$hRPXj8Z+wP%^6Dr:,+ fۋq*8h8)Vm-gXc'<̂P ڿlvlzwŽg,MXntC/lcPG8rbqljljjWZxxb; ؁+J$decå]-8X8k~[{Gv-H&$pd +68:H5 ]3Hȹm(RpGwLNS8F`]1X@tbG+fc;vb+f+v84㯎Y0D*~qy.3)XAOw]юt#|;4bؑ~v\PO}6Mb6)OjhFR}a}(ȳ؊qD'Dui"âxMB\B.juQ@Z 8 G-u@ގ7ιs |i]~SMUYܮKm,χ46VJfq4GLbw GJ9SE Gp7[pd=)yeTp *'%۔YS&6pTxK^PGe>U( (H݁=Ό ޤm盎9uX& so|Q!7FDw)'g=~w-n'L78Ţfpj9D3 1leO|Aцbiyp0w^@FVیfMXq 'ZV"åđU'qCڬ %Kc W%2|8n]GpFsЙ(do~o58Ȏ9 o0Y- h| _H& vߓ.Щ68CI8dP1;ΦhZm-i>(I!>9<C;gS ?ypKbz3U(( 13+NpDchN!bCYkKS4qul:6ޝeӈj551uk<KAwN Ixl!yRc'<1]р?)CGc stw݂,⩫-̰wș/ ,^M;/ta[J{zY͌KXthF6d8ڊmᯟ٠8@9ZiVcxٕ$es\ӽ1o ݷۿ}mP186E׆gnV>xA/̞5xWӎ_G;;SNW(Ļw++o]_+d{xPpNϞ5d !kg:QM!_8B!ݨA/7.㲎=PԽ{ : )4)6YM:=‘'~Aq '1<*V2:kNlmV.\hpAԉ pOiwO7g<pp T} UX"DJ{<#R\zfGz_kዳg}ak /4JW7mHyJW&jAy77GgEx+ڠ`e5izꠍr!V3Vr eqdEѪ-nVeXFerN&CI`vs,xrJ #{g="me{mVO灒8F% ^nq pRM4.Z0ZDmI'Ճ@WYǞ`☳jHu%P/*YF=%ғshɸ\Y>3KT&ŗHeQ5eI WAaہvGb kـa$[1RVmM}d&DzeuUCee}MM}Ueݕʚ376J{Uemee-|VUVTT⽊Ӵ.Ztw\1,R"BLsTƂD]]ҼM_QQYQm3 ǠbʢtGt}v"nݺs˖[h_TtUaaۂV΋R W؝'.Z $fؕIpDy02ٺUmm5+sUM/K{.)G!0;~%H7NqES %H`@YAAQx vт汌GwGYdW~Cq޽洓񑟿+=xO< #qEJRiC#mgvokY}wPz v}ڷ䅋_țgHS|anA|L)$!_?O7Dװ'-jLIPƦT,(jq8űm;gIu2)௃|ޯ?3B*N??S:v`a}}:0BYfG_X#8ܩqnƁ# {wo%K ""e#1b;bሥOebx?+8J {(=:ڶc:u,(TLJ<Ч7}@`H 5*X:v@-iG; Աg~G/rz<#γ (2BK_e87mQG)$q䝻t_gM FWQYEcu{",x#&zs. ;uGJ_o T;Cڹ  8j-Ct (%>*rFX/ .{QEԤ6l$X+uMOs27aLA2RuU^1Lw96KĉfAr18MC]] .w#gai $c6T]sy[dsy^\Zb ԑgDnϙI6zgD ͻ~;M~!?Ȑ^> g-:=z{ʕ+@$DH#"`M(zGA(8 uG+V,VH3QGߥl;YlY;2\#x c)î053ϛQu\s ƽϱV^;zc@-[ӁƵ3*c˗qgπFiܰkڄޔek9{0\Qs+-]@ꡥc~ JL yT8h|ܸ9B^l:Dj^:+ڵOս=Ϝ0Վ/uЗF{Rz8A u^)5zDf4]ɢ^"Ӟ۷t_׬)ekyLlfVr4]AۓC\; t1֮]#GRغ5y+< qP#-)nALYo%ϟ WGYWDl D#Q*_ 3ŝeqE<(jªhmۀ5 *Cg+<~LPz@7 ce u2n0,6sq/ZΕס 8*ՌFr ISkq rHY Zp\pN%,?HDɦRGu7]ۤA!=}NܷҾQQ} :B;fR;#$DBp f9]M4x iA[6 =Qyھ}?%VܰisS nybYv 8ϑ>/v4o> Iˆ&@XCRJG,8P bΥu+=zR, G]#2dłGGo[9͒ lE&P;y޽K!ǀׇJ>kFKހ/GpM\buM>+T;{vڻg=Kc#?Sǹs^/$Pyhl -ݢ;{h)(-nrvRt^ͮ5r7lيedm!F&W -^8e OotO[8#YUǽM?ʞWҊ8t3Þ9|.8/jkq3[]KF^fY+ UC%ݢ'_#|$[!l%Do"% Kzd=S8Y ?XT^6*g?'|L'@ßi"f={m$-1χw ZFRh@n]Ɋk'llC[ѦL TKIiWμL&q$_{lD`H81iI\Rt$.PI}{^ASZ 0իIG,8"1kGwdR҆:J8Q#%A;Y̢RI> >|/#YTGVQ)ս>,uLk'; G "f(>Jcp,:1 )HG⬁Ư}MY|aւoP)Q!AҰ: A |iud2ڳ/ِ֬meG G{H뎀#$2K) ~w߿~4b=߾v): V 18j;k߫E,daq$\j()bc=[FY-2M5ïSQ$bAXAgT5# p$>ql §FMy˩SǪ]v֣p8&TbQv%R#U=9&ff؁?v-SrR f^a2onZ4p%6}ЃL<Ƚ$L"X% :mt8Ic˗>vUG59qH'̂=>gfv)_I? ƕ+?GVr/&kܸ;L H[laFGfϞx:_cjc>$ rNu>FtӧEpӫViO7jY"njyLh0`Nm'M TIf̘/4'3gW.-k[;Ȁ K#%ձYgΜܒvo9Hci34h!."u>R4iҤUyOp(gϡ5dP("GfךrO8FB~<\ю _UtΜaQmڴ1zh$h$iJYhCGjU{Ԧ9cpXd/DeF8R*k?G?WN x0R8uܹxm:a:HI&5jYfQYQež| Yr=hLPf3HEA`|oG%,B`s1~G)%%C`ALk Y\Hc HPG) ϗԙ EQ|BiL+mnqdD"C}^z ӱצmmٲ@͢}gMbYWւMa_ ppnٲ!6tHP._ e2wQ ,ơnj!mO-[e2h#E4˜S8& n^̛7?T!Ivp4C]̈́I|7@AA(ԐAΙۻŢ'8DRB&C mEx$"^Hq{02Tj"E|)=wAdiYYE J4/ TiqBʢHe߳ P `"0¥#sd("z ByAܹ% "|q{\;k5xdѢE,8H@/Ͼ̂ =iz/yQivŋ(8 I@EIINj wt^KxA8[3G~ٯ;%B)|JoߺD>8kEmr:Fɓ巪[Y ΜIf t"B&y[4%K̛75Ǻ迳F}Ȋ0$:ܸA|wBgO lAXCYФo=Yt@OϼFi;wqg'x1(V@ZU]xdt . )Wf |޻(0[H̢p KH-jJӦM&;wM }~G"M;ݎG ˮY^[^vڴIyzZo=)Bo ömeS(pTŧԈ6\JKa&dVwN5jQI;y+J/YoxtO L6>J߆YˆuG2{(CQs[aC^eǓ3mY8.?S7HV&|ImXMq±ǺSVRxOG6hX֮ݔpNVD8KYgzP*@T1m7*G s֔ɴp~p۔)6t}e}dݷٰoQO)WuA {3Q\cYuT-ݶ[uGxa@9^d?p8BP46WZnYuS[13,iwJusix 5쥃eIҐ^A|K3.EE:i%h;9r&ۇ3SHn4ô?:Y&֋jLS4Ӱ3O^)Ls!!i1>SL38l/=7uG~ԕ`2_-Li4Oo6屙]ŠcMoY\2DmoXTtFJO`˃8x:-L醋IFq Q~!ՄƝ-c|5XvFJ(g٢ۦ:vhGg,(*fޒM:.N M4O ̮8wN,]d.AJ%F0ͣ5g=s`4`EL<-<HL)6m gm,j HGEe%FvI Ѹ'(v4L25zuR7h+A8*PP,L9o)I!fѕfLjuj\AaC Hc1#0ׄRS M{ܸyUG6bLc6jR[?" ,G ,[T 4+H7(M3yNeax#0fݴմ- KP&SOm^VExg Gu׷,Q?7MaʤHR5 KH)i#M_syĊ#=9c7>w-]ɖ5:=?]O"NT7eR=IF(ӧKGC8(I6L0 acגm qnx}闿, :WVn"3 #]H >즍cn`hC#Q0ok7-nN}4S+2Fo6E☕ax;8A"\gpwn®WѱqLKǼUGE׷aQrÙnGOs Jc!]b g&:z0"bxy^K+o2;]d-F"Q ޑꩳ*fϬ%4`iYe||w}EͲe6l>OʗiPI,q0lY'3o/ȣѲvX\mJ3_|F\*C$i1,¥X@I+9]m,lQ!2)1xPԪˤɲ Pg1p^jwφfeg̝Ƶ]RZG[4N9lԨ"^V#-#Z7vlغ#}^>7uW>K`-#xNh0P{@iSz,h,ZuGEhYsG^;Z"T&A@.RJ - ypox}y#{mT)aYGHdi`~xjE)Lsf4J:F,-w[H>5YG($}Y-6tFAOf)GO mjf$Lnކ: ?M¾ ߚ6*t gw:i\+&h<3.,JF 5JmEQTqQ848B"Џ0,J "#a#g)N|8‡Zz%YqQwcÅm]1#//X.Qk>d@%?زfV_亣ܲ'ݓRSW.p"UH㨂o4 lj#:m$iQ:cg"8=א(1.}3NpD`:U /x(ՠNs)?vxݟϺiDBel8m+4NlPH+*}XwQ2eQT,RD I1"5b<xb_lIENDB`b 02 0@P`p2( 0@P`p 0@P`p 0@P`p 0@P`p 0@P`p 0@P`p8XV~PJ_HmH nHsH tHJ`J cke $1$a$ CJKH_HaJmH nHsH tH$A`$ ؞k=W[SOFiF nfh*B*ph\\ hPQxjm)ʬuWLfdݮ+5_4csj-V?k3rm}gz gs嚋7xwsȈR W*)|jȫKXͫ dXIBF؇bnh ( *'vɗ3KZjz'c*_=}<9ݻw~]8^~_o?xYýg~^G}J0Emh=Ԅ Ξa>s$-, Oɠ=Hp Ua/ UO d*:(.fTU/!9$V[|hrvs-iUt. 6ڪ4Cebs)bMjBekp um,fd$͑{6GUVf~b#Vb@qTTW.ޛd)i@vdq9Y^X7{2%uHx+af6]>f#sm*qqDHehK)@?71oggo`:fղekp£2֌Nj8ǰD CB?81e>nEeU}H]dm1iQ6褣֧ #*<* 5555555558 >V  h  V  .08!!t ,b$jT|>/18!Mx*@H 0(  8(     `A? ff1 [?"?B S  ?#Hk #TDqEqFq$$<*urn:schemas-microsoft-com:office:smarttagschmetcnv s 012025FalseHasSpacemmNegative NumberType SourceValueTCSCUnitName         #%*124DElm,L\{|(/36= HM^`036abh  %)-.49:>?BCFSW[_`ox!$ !$ss3ss333ae!$  !$`e!*`o V.3!$!/L/d\؋<taGC L%Z!(1&NH-~|9<|}&?z(S@N@cbTb6jbΡu Xq X?k7z\gS^`o(.\^`\)Q\Q^Q`\.\^`\. \ ^ `\)= \= ^= `\. \ ^ `\.\^`\))\)^)`\.  ^`OJPJo(0\^`\OJQJo(hHlTT^T`o(0` 0` ^` `0o(  0 ^ `0o(  | \| ^| `\hH.  \ ^ `\hH. \^`\hH) h\h^h`\hH. 0 ^ `0o(  0 ^ `0o(  \^`\hH. 4\4^4`\hH.  \ ^ `\hH) | \| ^| `\hH.  \ ^ `\hH. \^`\hH) h\h^h`\hH.0^`0o(  \^`\hH) \^`\hH. ` \` ^` `\hH.  \ ^ `\hH)  \ ^ `\hH. L\L^L`\hH. \^`\hH) \^`\hH. \^`\hH[] H\H^H`\hH) \^`\hH. \^`\hH. 4\4^4`\hH)  \ ^ `\hH. | \| ^| `\hH.  \ ^ `\hH) \^`\hH.^`o(qq^q`o(0}0}^}`0o( ^`o(. \ ^ `\)= \= ^= `\. \ ^ `\.\^`\))\)^)`\.  ^`OJPJo(0\^`\OJQJo(hHlTT^T`o(0` 0` ^` `0o(   \ ^ `\OJQJo(0| \| ^| `\OJQJo(hHl  \ ^ `\hH. \^`\hH) h\h^h`\hH.^`o( \^`\)S\S^S`\.\^`\. \ ^ `\)? \? ^? `\. \ ^ `\.\^`\)+\+^+`\.^`o(\^`\)Q\Q^Q`\.\^`\. \ ^ `\)= \= ^= `\. \ ^ `\.\^`\))\)^)`\.  ^` o(0 (\(^(`\hH) \^`\hH. p\p^p`\hH.  \ ^ `\hH)  \ ^ `\hH. \ \\ ^\ `\hH. \^`\hH) \^`\hH.505^5`0o( qq^q`o(Q\Q^Q`\.\^`\. \ ^ `\)= \= ^= `\. \ ^ `\.\^`\))\)^)`\.0^`0o( Q\Q^Q`\)\^`\. \ ^ `\.= \= ^= `\) \ ^ `\.\^`\.)\)^)`\)\^`\.^`o(\^`\)Q\Q^Q`\.\^`\. \ ^ `\)= \= ^= `\. \ ^ `\.\^`\))\)^)`\.505^5`0o( 0^`0o( Q\Q^Q`\.\^`\. \ ^ `\)= \= ^= `\. \ ^ `\.\^`\))\)^)`\.  ^`OJPJo(0\^`\OJQJo(hHlTT^T`o(0` 0` ^` `0o(   \ ^ `\OJQJo(0 | \| ^| `\hH.  \ ^ `\hH. \^`\hH) h\h^h`\hH. H\H^H`\hH. \^`\hH) \^`\hH. 4\4^4`\hH.  \ ^ `\hH) | \| ^| `\hH.  \ ^ `\hH. \^`\hH) h\h^h`\hH. >^`>o(0 H\H^H`\hH) \^`\hH. \^`\hH. 4\4^4`\hH)  \ ^ `\hH. | \| ^| `\hH.  \ ^ `\hH) \^`\hH.`e!\(SZ!|9@c}&?GC u Xqtab6j`o 3!/L&NH-k7z/ wm1Qe]Uw14U4W4x5Rr        Щ p{"z"z    "z"z       P                1v6h?d     Щ p{"zF鄑    -        P        00        梞       ,        &Ζ         ڥ^                (%        OtH:}6)r>d8? @_-@pV@GBjB3wEJ20J{J4NLNqdOhP[=QiSVrSTUUxUFTWsYt+ZwD[?c[^^&&cXc9AeHejeEJf#hIhHihPiK/j6j;j7l@mPmog%qXu$2yLiy2{D{&|fVV+*Jwq/zVO6 &A EnD|HgbmpT^XL>O%DMr0:`;|Q|J0G@pu:v]ls4^kX1'v[yd 4=ijZ6H^Ay.e=E_G|1j%0j %:\gp..JP!?cWdqUZGr:-[Ec(~h ..k MSMmybwyJZ1DL6{~Y1QYnO?&@$###UnknownG* Times New Roman5Symbol3. * Arial;5 N[_GB2312;[SOSimSun;ўSOSimHei;WingdingsA$BCambria Math 1hkk=Ն   !-!),.:;?]}    & 6"0000 0 0 00000 =@\]^([{  0 0 00000;[i 2qHX?wv 2!xx  ,{mQJ\'Y[S[{wXIEJIN_o(u7bP            Oh+'0|   , 8 D P\dlt֪XIEJINNormal ΢û2Microsoft Office Word@@4@@6%@6% ՜.+,0 X`px swjtu    !"#$%&'()*+,-./0123456789:;<>?@ABCDFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnoprstuvwxz{|}~Root Entry FEData =1TableE!WWordDocumentDxSummaryInformation(qDocumentSummaryInformation8yCompObjn  FMicrosoft Word 97-2003 ĵ MSWordDocWord.Document.89q