Multi-functional small robots have broad application prospects. To meet different operational requirements, a small land-air deformable amphibious robot was designed, which could achieve efficient ground movement and avoid obstacles through takeoff flight. The robot adopted a dual-mode design, in which the ground mode adopted a two-wheel drive motion design, and the airplane mode adopted a four-rotor flight design. The switching between the two modes was realized through the support and extension of the robot tilting mechanism. In order to verify the motion performance of the robot, the whole robot model was established by SolidWorks software, the kinematics modeling for the robot was carried out, and the kinematics equation of the robot mode switching process was derived. Then, the robot servo output was simulated by MATLAB and the robot prototype mode switching experiment was carried out. The simulation results of the output torque were basically consistent with the measured results, with a range of 0-250 N·cm. Finally, the robot prototype was used to conduct ground movement and air flight tests, and its motion process was analyzed to verify the stability of the land-air motion and mode switching of the robot. The research results verify the effectiveness of the designed robot, and it has a long endurance, which can provide a reference for the design of land-air amphibious robots.

Aiming at the key issues in the overall development of snakelike robots, including material selection, structure design and motion realization, a new multi-joint snakelike robot was developed. This snakelike robot was composed of 11 two-degree-of-freedom orthogonal joints, which could achieve three-dimensional high biomimetic motion while ensuring flexibility. The basic gaits of snakelike robot such as meandering, wriggling and tumbling were designed by using the serpentine curve, and an improved obstacle surmounting gait was further proposed. At the same time, the gaits of the snakelike robot were simulated in the V-REP software, and the motion trajectories and efficiency of different gaits were compared. Finally, through the gait experiment of the snakelike robot prototype, the influence of each control parameter in the gait model on the motion waveform and speed of the snakelike robot was analyzed, and the reliability of the body structure and control system of the snakelike robot was verified. The research results have important theoretical significance and practical guiding value for realizing the gait planning and motion control of snakelike robots.

In order to accurately determine the ergonomics problems of products and improve the human-computer interaction performance, a conflict zone determination method based on functional surface drive and extension tools is proposed by using TRIZ (Teoriya Resheniya Izobreatatelskikh Zadatc). Firstly, the functional process model was improved by the functional surface to identify the initial problem functional elements of the ergonomics problems, and the transformation of the initial problem functional elements and the determination of the final problem functional elements were completed by combining the extension expression and correlation analysis. Then, the functional relationship model was improved by the functional surface to identify the initial conflict zone of the product, and the transformation of the initial conflict zone and the determination of the final conflict zone were completed by combining the extension expression, correlation analysis, implication analysis and superiority evaluation. Finally, the standard solution was used to solve the adverse effects in the conflict zone, and the evaluation and screening of the scheme were completed through the superiority evaluation. The feasibility of the proposed method was verified by an example of improved design of lawn mower. The research shows that this method is helpful for the determination of conflict zones in interactive products and can improve the efficiency of solving ergonomics problems.

In order to solve the problems of poor wall adaptability and low movement flexibility of wall-climbing robots, the shortcomings of the existing magnetic adsorption mechanism of wall-climbing robots were analyzed. Taking a wheeled wall-climbing robot as research object, a wall adaptive pendulous magnetic adsorption mechanism was designed based on the functional requirements of wall-climbing robots. A comparative analysis was conducted between the pendulous magnetic adsorption mechanism and the traditional magnetic adsorption wheel by Ansoft software. In order to further reduce the mass of the magnetic adsorption mechanism and improve its adsorption reliability, based on the goal of high magnetic energy utilization, SNLP (sequential non-linear programming) algorithm was used to optimize the structural parameters of the pendulous magnetic adsorption mechanism. After optimization, the adsorption force of the magnetic adsorption mechanism was increased by 25.52%. A prototype of pendulous magnetic adsorption wheel was developed and the adsorption force testing experiment and demagnetization experiment were conducted. Motion performance testing experiment was carried after installing the pendulous magnetic adsorption wheel on a wall-climbing robot to verify the rationality of the optimization results of the structural parameters of the magnetic adsorption mechanism and the practicality of the structural design. The research results provide a reference for improving the working performance of wall-climbing robots.

As an important spatial force sensing element, the six-dimensional force sensor is widely used in robot force/position control, grasping assembly, contour detection, autonomous obstacle avoidance and human-computer interaction. At present, improving the accuracy is one of the main research directions of six-dimensional force sensors. However, due to the influence of own structure and processing error and other factors, the six-dimensional force sensor will produce the interdimensional coupling phenomenon, and the interdimensional coupling is an important factor affecting its accuracy. In order to reduce the influence of coupling error, the decoupling algorithm of six-dimensional force sensor is studied by combining error analysis, theoretical derivation and experimental verification. Firstly, the coupling analysis of the six-dimensional force sensor was carried out, and its coupling model was obtained. Then, the linear decoupling algorithm of the six-dimensional force sensor was studied, and on this basis, the decoupling algorithm based on polynomial fitting was proposed to reduce the coupling error without changing the structure of the six-dimensional force sensor, so as to improve its accuracy. Finally, the orthogonal parallel six-dimensional force sensor was selected to carry out calibration experiments, and two algorithms were used for decoupling solution. The results showed that the decoupling algorithm based on polynomial fitting could reduce the influence of interdimensional coupling on the accuracy of six-dimensional force sensors. The proposed decoupling algorithm effectively improved the accuracy of the six-dimensional force sensor. Compared with the linear decoupling algorithm, the maximum coupling error was reduced by 8.914 percentage points and the linearity error was reduced by 0.111 percentage points. The research results can provide reference for reducing the coupling error and improving the accuracy of six-dimensional force sensors.

In order to solve the problem of difficulty in testing and performance verification of compliant mechanisms in the process of optimal design, the mechanical properties of thermoplastic polyurethane (TPU) material were studied by 3D printing technology. The effects of material hardness and print fill rate on the mechanical properties of TPU material were analyzed, and the better 3D printing parameters of TPU material were obtained. Using single factor and two factor tset combined with variance analysis, the primary and secondary factors that significantly affect the flexibility of TPU specimens were identified as TPU material hardness and print fill rate. Combined with the mechanical property test data of TPU material, the mapping relationships between the material parameters and material hardness, print fill rate of four commonly used hyperelastic material constitutive models, i.e. Mooney-Rivlin, Yeoh, Ogden and Valanis-Landel, were obtained. The results showed that with the increase of TPU material hardness and print fill rate, the flexibility of the specimens decreased; among the four hyperelastic models, Ogden model has a good prediction effect on the mechanical properties of TPU specimens under different printing parameters; there was no significant difference in the predictive effect of the four models under the same TPU material hardness and different print fill rates. The research results can provide reference for 3D printing and finite element simulation analysis of TPU material, and provide reliable technical support for the test, performance verification and sample production of compliant mechanisms in the design process.

In view of the direct measurement difficulties of load swing angle of tower crane under some working conditions, obvious chattering of the system sliding mode controller and complicated adjustment of controller parameters, an adaptive sliding mode control method for tower crane based on improved fruit fly optimization algorithm was proposed. Firstly, based on the Lagrange equation, the dynamics model of the tower crane single pendulum system was obtained. Then, a linear extended state observer was designed to observe the load swing state of tower crane, and the observation results were fed back to the adaptive sliding mode controller. When constructing sliding mode surface, the hyperbolic tangent function was used instead of the common symbol function to increase its continuity and reduce chattering. Finally, the optimization strategy and search radius of the fruit fly optimization algorithm were improved, and the parameters of the adaptive sliding mode controller were optimized. The results showed that the designed linear extended state observer could track and observe the load swing angle of the tower crane with fast convergence speed and tracking error less than 1.3%. The adaptive sliding mode controller optimized by the improved fruit fly optimization algorithm not only had a good suppression effect on the load swing of tower crane, but also had strong anti-interference and robustness. The proposed control method can effectively avoid safety hazards caused by tower crane load swing while achieving precise positioning, ensuring the safety of workers and the smooth progress of the project.

In view of the adverse effects of dynamic modeling errors and uncertain perturbations on the high-precision trajectory tracking control of the end of manipulators, a novel sliding mode control strategy for manipulators based on the adaptive neural network was proposed. The control strategy could be divided into three parts: adaptive neural network compensation term, switching control term and equivalent control term. The introduction of adaptive neural network avoided the influence of modeling error and unknown external disturbance on the manipulator system, and improved the trajectory tracking accuracy. The switching control term could enable the manipulator system performance to quickly approach the sliding mode surface while approaching the equilibrium point at a very small rate, so as to ensure system stability while avoiding excessive chattering. The equivalent control term was used to compensate the gravity term and Coriolis force term of the manipulator dynamics model, which realized the linearization of the model and ensured the system control accuracy. Finally, the stability of the designed control system was proved by constructing the Lyapunov function, and the simulation experiment and comparison experiment were carried out in MATLAB/Simulink environment and robot system toolbox. The results showed that the proposed control algorithm could achieve high-precision trajectory tracking while maintaining the stability of the manipulator, which verified the correctness and superiority of this control algorithm. The adaptive neural network sliding mode control algorithm provides a solution for enhancing the trajectory tracking accuracy of the end of manipulators.

In response to solve the current issue of requiring external rigid body pump and valve for flexible actuator, a flexible bending actuator driven by an embedded electrohydrodynamic pump was designed based on the motion characteristics of human finger bending and grasping. A electrohydrodynamic pump was designed, and the influence of electrode plate spacing and electrode hole diameter on the output flow and pressure of the electrohydrodynamic pump were analyzed through experiments. The dimensions of the needle electrode, hole electrode and other components of electrohydrodynamic pump were determined, and a prototype of the electrohydrodynamic pump was developed. Multiple electrohydrodynamic pumps were connected in series and parallel, and the relationships between input voltage and output pressure, output flow were obtained. Two electrohydrodynamic pumps in series were determined to drive the flexible actuator; a mechanical model of the flexible actuator was established, and bending simulation and experiments were conducted on the flexible actuator. The relationship between the driving pressure and the bending angle of the flexible actuator was obtained, proving the good bending performance of the flexible actuator. The experimental, simulation, and theoretical values of the bending angle were relatively consistent, and the theoretical and simulation models could accurately describe the bending deformation of the flexible bending actuator. The high integration of the electrohydrodynamic pump and the flexible actuator allows the electrohydrodynamic pump to directly drive the bending deformation of the flexible actuator, achieving the portability of the flexible bending actuator.

The co-simulation method can be used to analyze the kinematics, dynamics performance and hydraulic system characteristics of piston pump in real time, which can be widely used in the design and optimization of piston pump products. A distributed co-simulation of axial piston pump based on functional mock-up interface (FMI) was proposed to address the shortcomings of high discretization of analysis and optimization and low efficiency in traditional optimization processes. By developing automatic optimization components, the iterative optimization of key structural parameters of damping groove was achieved. Firstly, kinematics and dynamics analysis was carried on the piston pump shaft system, and the motion model and force model of the piston pump shaft system were established to determine the constraint relationship of shaft system components; secondly, a co-simulation model of the piston pump was established to study the motion, force, and deformation characteristics of the piston pump; then, a distributed co-simulation model of the piston pump was built based on cloud server, and heterogeneous scheduling of each simulation software was achieved through FMI technology; finally, based on cloud platform architecture, an optimization calculation template for the damping groove of piston pump was developed, achieving the solution of the optimal structural parameters of the damping groove and its automatic model creation. The simulation results showed that after optimizing the damping groove structure, the outlet flow pulsation rate of the piston pump was reduced by 35.78%. The proposed method can effectively improve the efficiency of simulation and optimization, and reduce the workload of research and development personnel.

In order to further improve the response speed and lightweight extent of piezoelectric wavefront correctors, the dynamics simulation and optimization method of unimorph piezoelectric deformable mirrors for high dynamic shape control was studied. Firstly, based on the parameterized finite element model of unimorph piezoelectric deformable mirror, an efficient and high-precision electromechanical coupling dynamics simulation analysis method was proposed. Then, through orthogonal traversal of multi-dimensional design parameters (material type, geometric dimension and fixation mode of the optical reflector and piezoelectric ceramic), the influence of different parameters on the dynamic shape control performance of unimorph piezoelectric deformable mirrors was explored. Finally, the optimized design scheme of the unimorph piezoelectric deformable mirror with expected response bandwidth and actuation displacement performance was obtained. The experimental results show that the natural frequency and mirror actuation displacement amplitude of the developed unimorph piezoelectric deformable mirror are in line with expectations, which verifies the effectiveness of the proposed dynamics simulation and optimization method and provides a scientific theoretical method for the efficient development of high-bandwidth unimorph piezoelectric deformable mirrors.

In the minimally invasive surgical robot system, there is a kinematic coupling between the yaw joint and the rotating joint of the gripper for the traditional cable-driven surgical instrument, which has an adverse effect on the kinematic accuracy of the surgical instrument. For this reason, a new four-degree-of-freedom cable-driven surgical instrument was proposed. The yaw joint adopted a planetary gear structure, which could achieve kinematic decoupling between the yaw joint and the gripper. Firstly, the kinematic coupling problem of joints in the traditional cable-driven surgical instrument was analyzed. Then, a jaw joint of planetary gear rotation was designed, and the geometric analysis proved that it had very low joint coupling and the forced deformation of the steel cable was very small during the motion. At the same time, the forward kinematics model of the new surgical instrument was constructed by using the standard D-H parameter method, and the closed-form solution of its inverse kinematics was obtained by the analytical method. Finally, the accuracy of the forward and inverse kinematics models was verified by using the Robotics Toolbox and the simulation model built in the Simulink environment of MATLAB software, and the workspace of the surgical instrument was analyzed by using the Monte Carlo method. The simulation results showed that the structure design of the proposed surgical instrument was reliable, the kinematic coupling between the joints was low, and its workspace could meet the requirements of minimally invasive surgery. The research results can provide reference for the structural design and kinematics analysis of flexible cable-driven surgical instruments.

In order to design a passive lower limb exoskeleton with good assisting effect, an optimal design method of lower limb exoskeleton was proposed based on the analysis of the motion and mechanical characteristics of human walking and the mechanical performance of the relevant major muscle groups. Through the human walking experiment, the kinematics information and plantar reaction force were obtained to drive the simulation of Anybody, and the mechanical data of lower limb muscles during walking were obtained. With the help of Hill muscle model, a simplified model of muscle?tendon?bone of hip joint in the sagittal plane of the human body was established, and a virtual torsion spring was added to simulate the role of exoskeleton, forming an integrated model of human body and exoskeleton. On this basis, the human-computer interaction force and the muscle activation of the wearer were quantitatively analyzed when wearing the assisted exoskeleton. The calculation models of muscle activation degree and metabolizable energy with torsion spring stiffness as variable were established, and the stiffness of virtual torsion spring was optimized by particle swarm optimization to obtain the optimal value with the goal of minimum metabolizable energy. Based on this, the design scheme of hip joint assisted exoskeleton mechanism was proposed, and the difference between the auxiliary torque of the mechanism and the virtual torsion spring torque was minimized as the goal to optimize, and the optimal values of the tension spring stiffness and the size of each connecting rod were obtained as the design parameters of the exoskeleton mechanism. At the same time, the prototype of hip joint assisted exoskeleton was made and the experiment of assisted walking was carried out. The results showed that the metabolic energy of human body was significantly reduced when wearing the assisted exoskeleton. The research method can provide reference for the design and analysis of other lower limb exoskeletons.

In order to protect the RFID (radio frequency identification) antenna from oxidation and corrosion due to contact with the external environment, and to improve the anti-counterfeiting, integrity and aesthetics of the product, it is necessary to place the RFID antenna on the surface of the product structure or inside the product. In order to rapidly manufacture these products, a multi-material 3D printer integrating fused deposition modeling (FDM) and direct ink writing (DIW) 3D printing technologies was built, with a printable area of 220 mm×190 mm. The influence of antenna structure and substrate structure on the radiation performance of RFID antennas was analyzed by ANSYS HFSS simulation software. Then, four types of RFID antennas were selected as 3D printing objects, and conductive silver paste and polylactic acid (PLA) were used as printing materials for the antenna and substrate, respectively. The measured and simulated curves of the return loss of the antenna print were compared. The results showed that the resonant frequencies of the four types of RFID antennas had shifted approximately 185 MHz in the low-frequency direction relative to their design frequency of 915 MHz. Based on the measurement results of the return loss of antenna prints, the antenna model was further optimized and an embedded RFID antenna with a substrate thickness of 3 mm and an antenna arm length of 55 mm was printed, which met the design requirements of resonant frequency of 915 MHz and bandwidth greater than 150 MHz at ?10 dB. The research results verify the feasibility of integrated printing of RFID antennas and product bodies by using multi-material 3D printing technology and provide a reference for the rapid manufacturing of RFID antennas. This process has broad application prospects.

Aiming at the requirements of obstacle-surmounting performance of search and rescue robots in complex terrain environment, a passive terrain adaptive mechanism for wheeled search and rescue robot is designed, and its obstacle-surmounting performance is analyzed. Firstly, based on the analysis of traditional obstacle-surmounting mechanism, the terrain adaptive mechanism was selected and optimized by genetic algorithm, so that the design of passive terrain adaptive mechanism for wheeled search and rescue robot was completed. Then, the dynamics model of wheeled search and rescue robot was established based on the D'Alembert principle, and its obstacle-surmounting ability was analyzed and calculated. Finally, a multi-rigid-body dynamics model of wheeled search and rescue robot was established, and its obstacle-surmounting performance simulation was carried out and compared with the theoretical calculation results. The comparison results verified the ability of obstacle-surmounting and terrain adaptation of the wheeled search and rescue robot. The research results can provide a theoretical basis for the prototype construction and subsequent research of wheeled search and rescue robots.

Crane has been subjected to alternating loads with different characteristics for a long time during service, resulting in a decrease in load-bearing capacity due to structure fatigue. In order to study the impact of load and stress changes on the fatigue life of crane structure during actual work, firstly, a neural network was used to analyze the load spectrum of crane during service and accurately predict the load characteristics, and the stress-time history of the crane during service was analyzed by combining the accurately predicted load spectrum and structural bearing characteristics; secondly, Miner's linear damage accumulation theory and linear elastic fracture mechanics method were used to predict the fatigue life of the key parts of the crane structure; finally, with the fatigue life and structural bearing capacity of the key parts of the crane structure as constraints, an optimization design model considering the load characteristics of the crane during service was established. Intelligent optimization algorithm was used to search for the optimum design variable combination globally to obtain the optimum design parameters of the crane structure that met the design requirements of fatigue life and bearing capacity. The research results showed the feasibility of the method combining the calculation of structural fatigue life with intelligent optimization algorithm in the optimization design of crane structure, providing a new approach for the lightweight design of crane structure.

The point cloud data obtained by conventional 3D point cloud information map modeling method for coal mine tunnels is large and complex, with a large amount of computation. Therefore, a 3D scanning system and a spatial modeling method for excavation tunnel based on laser scanning and 3D grid map were proposed. The 3D grid map of the tunnel space was formed through mapping point cloud data to a 3D grid and dividing the tunnel space into a finite number of grids, and the map was divided into multiple functional areas. By converting the 3D scanning lidar coordinate system to the tunnel coordinate system, the point cloud data obtained by lidar was converted into the outer contour data of the tunnel, in order to analyze the over excavation and under excavation errors of the cutting of the roadheader. The experiment showed that with a 3D grid edge length of 10 cm, when the grid map obtained by the cutting formed tunnel 3D grid map modeling method guided the automatic cutting operation of the roadheader, the data processing load could be reduced by 84.7% compared with the conventional point cloud map, which greatly reduced the burden of the cutting control system processor. The research results provide a basis for the design and application of an autonomous cutting operation system of roadheader based on lidar 3D scanning.

The control system of aerial fire fighting vehicles is complex, and the operation of the entire vehicle requires multiple operators to cooperate at multiple operating positions, with high requirements for the technical level of operators. Therefore, a control system of aerial fire fighting vehicle with voice control function was proposed. On the basis of the original control system of the aerial fire fighting vehicle, automatic control function, voice control function and voice broadcast function were added to replace the conventional handle and button operation mode. Among them, the voice control function was to recognize specific voice commands from operators through voice control module and sent them to the PLC (programmable logic controller) through the CAN (controller area network) bus, and then the PLC automatically controlled the action of the fire fighting vehicle based on the voice commands and the status of the fire fighting vehicle. When the status of the fire fighting vehicle changed or malfunctioned, the PLC sent voice commands to the voice broadcast module, which played the voice based on the pre-stored voice information for operators to receive important information. The test results showed that the designed aerial fire fighting vehicle control system was feasible, which could effectively reduce the operation difficulty and improve the operation efficiency. The new control system can be quickly extended to other types of fire fighting vehicles and related construction machinery products, which has high application value.

In order to solve the problems of low automation level, low work efficiency and high risk when launching and recovering autonomous underwater vehicle (AUV), an launch and recovery system (LARS) for AUV based on unmanned surface vessel (USV) was developed. Firstly, by analyzing commonly used AUV launch and recovery modes and LARS at home and aboard, an AUV LARS was designed, and its working principle was analyzed; secondly, the dynamics, statics and contact collision issues of the LARS were studied from the perspectives of mechanical analysis and numerical simulation; finally, a principle prototype of the system was built and land and lake experiments were conducted. The experiments verified that the designed LARS was stable, reliable, easy to operate, and had good universality, which could effectively improve the efficiency of autonomous launch and recovery of AUV. The designed AUV LARS based on USV has good application prospects.

Aiming at the problem that special-shaped parts have many complex intersecting features and the machining features are difficult to recognize automatically, which affects their high-efficiency and high-quality automatic programming design, a machining feature recognition method based on graph and volume decomposition is proposed. Firstly, the STEP neutral file was used as input, and the geometric and topological information of the special-shaped part was obtained to construct its blank and volume features. At the same time, the Boolean subtraction was used to obtain the machining volume features of the special-shaped part, and the features were decomposed into single features with only convex edge relationships. Then, a geometric feature matrix (GFM) and topological feature matrix (TFM) construction method based on the relationship of feature surfaces was designed, in which GFM focused on describing the position relationship between surfaces of the part model, and the TFM focused on describing the adjacent concavity and convexity between surfaces of the part model. This method better solved the problem that the traditional attribute adjacency matrix (AAM) was prone to fail to accurately express the machining features of parts. Finally, the GFM and TFM of the special-shaped part were matched with the machining feature database to achieve recognition of machining features. The machining feature recognition system for special-shaped parts based on graph and volume decomposition was developed on Visual Studio 2019 platform and the verification experiments were carried out. The results show that this method can accurately recognize all machining features of special-shaped parts, which can provide a theoretical basis for the automatic programming of machining processes and intelligent manufacturing of special-shaped parts.

With the gradual shift of oil and gas exploration to deep, ultra-deep and complex rock formations, the existing mechanical drill bits have the problems of low rock breaking efficiency and high operating cost. Therefore, a new type of laser-PDC (polycrystalline diamond compact) drill bit was proposed to achieve efficient rock-breaking and energy-saving and cost-reducing. Using finite element method and based on the HJC (Holmquist-Johnson-Cook) constitutive model of rock, a nonlinear dynamic model of laser-PDC drill bit joint rock-breaking was established, and simulation research on laser-PDC drill bit joint rock-breaking was conducted. The simulation results showed that the radiation effect of laser generated higher temperature and greater prestress in the radiated area of rock surface, which in turn formed interpenetrating damage zones on the rock surface, reduced the strength of the rock, and was more conducive to cutting teeth to break the rock; compared with non-laser single PDC drill bit, laser-PDC drill bit experienced a 24.8% reduction in anti-torque during rock breaking, a 10.5% reduction in axial acceleration fluctuation, an increase in drilling displacement of 8.67 mm, and an increase in drilling speed of 112.79%. A laser-mechanical joint rock-breaking experimental bench was built to conduct laser-PDC drill bit joint rock-breaking experiment. The experimental results showed that laser-PDC drill bit joint rock-breaking had better drilling stability and continuity, greatly improving the rock-breaking efficiency. The research results can provide theoretical and technical support for the development and application of laser-mechanical rock-breaking technology.

In order to achieve the dredging of urban underground pipelines with complex layout, a tracked pipeline dredging robot based on parallel mechanism was proposed. Adopting a folding and posture adjustment walking device to reduce the robot's volume, and using a working device based 3-US parallel mechanism to increase the robot's workspace; a robot workspace algorithm was written, and the working range and motion trajectory of the walking device and working device were obtained by simulation through MATLAB software; the motion states of the robot were simulated by ADAMS software, and its driving characteristic parameters were analyzed. The variation rules of driving force and driving torque of the walking device under different motion states were obtained, as well as the driving torque of the working device when transitioning between extreme positions in different directions. Simulation study showed the stability of the walking device during folding and posture adjustment, as well as the flexibility of the working device in transitioning between various dredging limit positions. The research results have guiding significance for the development and application of pipeline dredging robot with diameter adjustment.

Aiming at the problems of the frequent idler failure of long-haul large belt conveyor, idler replacement work leading to shutdown, and the low efficiency and single equipment of traditional manual idler replacement, a robot that can realize non-stop idler replacement is proposed to improve the idler replacement efficiency by taking the belt conveyor in the main adit of Wangjialing Coal Mine as the research object. The belt lifting mechanism is an important part of idler replacement robot. Based on the functional requirements of the robot and the characteristics of narrow space and large belt load of belt conveyors, a scissor-fork belt lifting mechanism was designed. Firstly, the three-dimensional model of the scissor-fork belt lifting mechanism was constructed by SolidWorks software. After the working load of belt lifting was calculated according to the parameters of the belt conveyor, the force analysis for belt lifting mechanism was carried out. Then, the kinematics simulation analysis for belt lifting mechanism was conducted by SolidWorks Motion module and the statics simulation analysis was carried out by ANSYS Workbench finite element software. Finally, the ground test and underground test were carried out to verify the feasibility of the designed belt lifting mechanism. The ground test results showed that under the load of 20?60 kN, the matching accuracy between the measured and simulated vertical displacement of the belt lifting mechanism was 6%?15%, which verified that the bearing capacity of its main structure met the design requirements. The underground test results proved the rationality and reliability of the belt lifting mechanism design. The bearing capacity and lifting height of the scissor-fork belt lifting mechanism meet the functional requirements of the idler replacement robot, which is a key technical breakthrough to realize the non-stop replacement of idlers for belt conveyors.

Digital modeling, system simulation and optimization in the automotive production process are of great significance for improving the quality and efficiency of automotive production. In order to solve the common problem of low resource allocation efficiency caused by data link breakage in automobile manufacturing enterprises, a new type of digital pedestal system was proposed based on the painted body storage (PBS) of automobile, to achieve data chain integration and multi-source heterogeneous data fusion. At the same time, a vehicle sequencing strategy for PBS was designed, taking into account the constraints of the final assembly process on sequence optimization. The PBS outbound sequence was obtained by a genetic algorithm, and then the inverse ordinal pair was used as a reference index for PBS lane layout. The effectiveness of the proposed method and strategy was verified by applying the PBS system based on digital pedestal system to a certain automotive manufacturing enterprise. The research results provide a reference for enterprises to build internal integrated manufacturing platforms and design specific workshop units.

The traditional notched flexible ball hinge has smaller working stroke, complex structural configuration and compliance calculation, and high processing requirements, so it can not be applied to the occasions requiring large stroke. Therefore, a large stroke flexible ball hinge with orthogonal reeds was designed, which meant that the reed beam with large deformation capacity could form a Hooke joint through orthogonal combination, enabling it to achieve movement in three functional axis directions. The flexible ball hinge had the advantages of simple structural configuration, easy processing and manufacturing, and large working stroke. Based on the compliance matrix and connection type of a single reed beam of the flexible ball hinge, the global compliance matrix of the flexible ball hinge was modeled and calculated by the compliance matrix method and coordinate transformation method. The established compliance model was verified through finite element simulation and experimental test, and the influence of geometric parameters of the flexible ball hinge on compliance was analyzed. The results showed that the relative error between the theoretical calculating value and the simulated value of compliance was basically within 10%, and the relative error between the calculated value and the test value was within 8%; the influence degree of geometric parameters on compliance was in descending order: thickness, width and length of reed beam 2. The research results can provide reference for the diversified design of large stroke spatial compliant mechanism.