Aiming at path planning problem of AGV accessing cars, the dynamic adaptive hybrid algorithm was proposed by combining particle swarm optimization (PSO) with genetic algorithm (GA). Based on the standard PSO and GA, inertia weight coefficient, learning factor and the formula of crossover and mutation probability were optimized and improved with the dynamic adaptive adjustment strategy. In the initial stage of algorithm evolution, the dynamic linkage relation built between inertia weight coefficient and learning factor were utilized to deal with real-time updates of particle's velocity and position. In the later stage of evolution, in order to strengthen global search ability of hybrid algorithm and improve evolution speed and convergence precision of the algorithm, crossover and mutation operators of adaptive genetic algorithm (AGA) were introduced. Finally, MATLAB was used to verify the feasibility and effectiveness of hybrid algorithm. The simulation results showed the global search ability and convergence performance of hybrid algorithm were optimal by being compared with tabu search algorithm (TSA), ant colony algorithm (ACO) and GA. The conclusion indicates that the hybrid algorithm is feasible and effective.

The conceptual design model for mechanical product and its computer aided design are the important and focus problems. A mechanical product design process of FPBS model, function-principle-behavior-structure model, was put forward and discussed. The semantic relationships between the elements of FPBS model were studied to make foundation for the its application. The operational demands of knowledge system for FPBS model were analyzed, and it is indicated that the ontology can be applied effectively to knowledge system operation of FPBS model. Then, an ontology model was established based on FPBS and a FPBS ontology model system was further constructed. The experimental results indicate the model can be used in computer aided conceptual design for mechanical product effectively.

Owing to the defects of traditional spiral method to solve Jacobian matrix of parallel mechanism,a micro-displacement method was put forward based on micro-motion analysis of 3-RPS parallel mechanism.The method could avoid the problem of transcendental equation group in the solving process,and the Jacobian matrix acquired was a non singular matrix.At the same time,aiming at the low trajectory tracking precision of conventional controller of parallel mechanism,the sliding model controller (SMC) was designed by the dynamic equation of 3-RPS parallel mechanism and proportional switching control law.Firstly,the MATLAB/SimMechanics simulation analysis model of 3-RPS parallel mechanism was presented and the Jacobian matrix of 3-RPS parallel manipulator was solved by micro-displacement method,which was the theoretical reference value for control system.Secondly,the SMC controller was designed,then the stability of SMC controller was proven based on the Lyapunov function.Finally,the MATLAB/Simulink model of PID controller and SMC controller were respectively established,and the simulation analysis and comparison were performed.The results show that the SMC controller has higher trajectory tracking precision,smaller steady-state error,faster response speed and better robustness than that of PID controller,so the effectiveness of SMC controller is verified.

The sensing system of body movement is the key to realize compliant control and human-robot coupling for the exoskeleton robot. The dynamic model of the lower limb was analyzed and the cooperative control method was brought forward. Position control method was applied in the support phase, and the interactive-force based admittance control method was applied in the swing phase. According to the method, the sensing system of lower limb exoskeleton robot based on multi-information fusion was developed, which employed joints angle of body, human-machine interaction force and plantar pressure as perceptual parameters. Using the variable-gain Kalman fliter algorithm to process the angle measured by IMU sensor and the Savitzky-Golay filter algorithm to process the pressure measured by FSR, the gait characteristic was acquired and the test was carried out to verify the reliability of the method. The experimental results showed that the attitude angle calculating algorithm of IMU data had the characteristics of high precision and good stability, and the human-robot interactive method and the FSR pressure data processing algorithm were feasible, which meant that the sensing system had the reliable ability to acquire and fuse attitude angle, interaction force and plantar pressure and identify the wearer's gait accurately. The results can provide a reference for optimizing the sensing system of exoskeleton robot and promote the development of the control systems and strategies of exoskeleton robot.

When the field test of rope pulled automatic catwalk was carried out, the load fluctuation of rope was obvious, and it was difficult to complete the lifting of the target weight column. Therefore, the structure and motion characteristics of rope pulled automatic catwalk were analyzed, and dynamic model based on the D'Alemebert principle was established, MATLAB software was used to analyze the influence of the distance between the block on the base and the bottom of the ramp, the hinge position of the transfer arm and the support arm, and the length of the support arm on the load of rope. The analysis results showed that adjusting the position of block on the base to the bottom of the ramp, and reducing the length of support arm could reduce the required force of rope in the process of lifting. According to the analysis results, the structure size of automatic catwalk was adjusted to carry out the field test, the test result showed that the maximum lifting oil pressure of the hydraulic which was decreased by more than 2 MPa, the lifting capacity of automatic catwalk was improved. The analysis and experimental results can guide the design and optimization of rope pulled automatic catwalk.

Aiming at the design of cultural product modeling,design elements related to product modeling were subdivided into five aspects, including function, behavior, culture, emotion and structure method. Cultural and creative product concept prototype system was built to design culture creative products by combining case-based design technology, genetic algorithm and shape grammar knowledge. The system was built to guide designers to design some cultural products. A multi-objective optimization model of design element oriented on product modeling was proposed, and the matching operations on the user demand was made. The design method model of cultural products modeling was presented, which combined with the knowledge of product gene tree crossover operation and shape grammar, and a crossing and recombinant of design elements between modern products and cultural artifacts was made. Through the in-depth study of product modeling design elements, and integrating case-based reasoning, genetic algorithm and the shape grammar knowledge into cultural and creative product concept prototype system, it was proved that the system was able to aid the designers to make some creative designs. An example of the design on small speakers was used to verify the feasibility of this method. An effective design method on cultural product design is provided.

Electricity for illumination occupies most of university electricity consumption. Road and scenery illumination， with large capacity and long working hours， may cause waste of energy when it is operated manually.Therefore， according to the students' living patterns， PLC intelligent control system in the road and scenery illumination was adopted on the new campus. Some time before the blackout of students' apartments， all of road and scenery illumination lights would be turned on. Afterwards， the road illumination lights would be tuned down and some scenery illumination lights would be off. Additionally， during summer and winter holiday， the illumination lights would be controlled in different time interval. Based on estimate of operation for PLC intelligent control system，electricity saved each year is more than 25% and the lifetime of lights is also increased. The result shows that the illumination intelligent control system is reliable enough to meet the requirement of campus lighting， and the expected effect is realized．

In order to ensure the safety of antenna system at launch moment and orbit stage, the vibration property of a data transmission antenna developed to work on lunar orbit satellite was analysed. Through the finite element modeling and simulation method，the vibration performance of the antenna on high orbit satellite at launch moment and orbit stage was analysed and calculated， and the system antenna structure was optimized according to the simulation results. The vibration test for antenna system was applied in actual vibration environment, and the results indicated that the antenna system structure was reliable. The electrical property was tested again after vibration test, and the result indicated that the antenna electrical property was stable. The result of vibration test confirmed the reliability of the antenna and the credibility of the finite element analysis. This antenna has been launched and worked on orbit with stable performance indexes and good work conditions. This study can prefer some reference to increase the vibration safety for the related satellite antenna.

 To investigate the dynamic characteristics of an explosion-proof tire vehicle, and obtain the dynamic stress and strain distribution, simulation research on its dynamic characteristics was conducted with multi-body dynamics and finite element method. An ADAMS-based model of the vehicle was established and dynamic load curves of all hinge points on the rectangular pit road condition were obtained by multi-body dynamic simulation. Then random excitation peaks of dynamic simulation result were applied to the finite element model established through ANSYS under typical load condition. Both dynamic stress distribution and stress concentration locations of the frame were obtained. The research result can be used to evaluate dynamic stress and strain, also providing certain significance for the vehicle lightweight improved design

The main component of turbine is made up of stator and rotor, whose function is to transform liquid energy into mechanical energy on the main shaft. CFX-BladeGen is applied to model turbine and then numerical simulation calculation on the obtained model is conducted. The comparison between the result of the above calculation and that of the same type of turbine in bed-performance test indicates that CFX-BladeGen is more convenient and swift to fulfill the modeling request of turbine blade.

Centrifuge is a calibrating device of accelerometer in inertial navigation system,and deformation of the rotator could seriously affect the calibrating accuracy.The centrifuge indoor air flow,heat transfer and heat conduction of cabinet and rotator were considered when the thermal deformation was analyzed through a multi-field coupling simulation,which combined the methods of CFD and FEM.The multi-physics coupling calculation principles were analyzed.Temperature field was calculated by using conjugate heat transfer method,and thermal deformation was obtained by the sequential coupling method.The results showed that at speed of 300 r/min,the maximum temperature rise was 1.23 ℃,and the farther away from the rotator center,the bigger temperature rise.The calculated temperature at the location for mounting accelerometer was consistent with the measured value.The radial deformation of the accelerometer location was 7.89 μm.Thermal deformation is a result of accumulated deformation,and increases with the rotating speed.

Aiming at the problems existing in the automatic feeding, quantitative filling process of the capacitor aluminum shell such as low automation degree, low filling accuracy and so on, the control system of automatic feeding and quantitative filling for the capacitor aluminum shell was designed. The PLC of Mitsubishi FX3GA series was used to conduct the reasonable configuration of hardware and software for the control system and the hardware composition and software flow of the system were designed in detail. The touch screen of Mitsubishi GS series was used to achieve the system parameter modification and state monitoring. The system had been applied in the practical application of capacitor production enterprise and application effect showed that the system ran reliably and stably, the operation period was 10 s, the error of the quantitative filling for aluminum shell was less than 2%, and the product quality and production efficiency were improved, which could meet the production requirements of enterprises. The system has a certain popularization value.

To make research on contact stress between worm and worm gear under different circumstances, and the relationship between the torsion angle of the worm and the driving torque, solid models with precise tooth surface of a ZA worm and worm gear were established based on tooth surface equations. Using these models, finite element analysis of contact was performed with ANSYS at different meshing locations under the same load and at the same meshing location under different loads, and the contact stress distribution on different meshing teeth and the load distribution among them were studied in a meshing cycle. The analysis results show that the contact stress calculated by the theoretical formula is quite smaller than the actual maximum, and that a power function is discovered between the driving torque and the torsion angle of the worm caused by elastic deformation of contact teeth, which can be used in precise angle control of the worm gear．

In order to eliminate the redundant moment of force of the electric load simulation system (ELSS) and improve the output accuracy of the system loading torque, a kind of adaptive control method for eliminating position disturbance torque of steering engine was designed. Based on the feed forward control and adaptive control theory, the effectiveness of the method was analyzed by MATLAB simulation software and the experimental verification was carried out. Simulations and experimental results showed that the method could adaptively adjust the system loading error, and the higher the frequency of the steering engine was, the longer the tracking error could be adjusted. In the same conditions of the loading torque and amplitude phase of the steering engine, the higher the steering engine frequency was, the more obvious the inhibitory effect of the control method to the redundant moment of force was. In the same conditions of the loading torque and movement frequency of the steering engine, the greater the amplitude phase of steering engine was, the more obvious the inhibitory effect was. The method can stabilize the system in an ideal output state by the output of the reference model when the actual system parameters are unknown or gradually changing. The research results have certain reference values for the design of aircraft electric load simulator.

In view of the poor screening efficiency of vibrating screens and the incomplete screening theory, a comprehensive mathematical model is need to be established to guide the design of vibrating screens. Screening simulation experiment based on the Discrete Element Method was applied to solve problems like the complexity of screening process and the difficulty to obtain the screening data, and its validity was verified by an experimental prototype with adjustable parameters. In principle, the mathematical relationship between screening efficiency and parameters was a complex non-linear problem, instead of being limited to low precision as the traditional regression algorithm was, the nonlinear regression model of vibration screen with designing the sample space of operation parameters and screen configurations based on Simple Multiple Kernel Learning was introduced. Considering multi-extremum, large-scale, and non-differentiable of this computational model, the artificial fish-swarm algorithm with strong robustness and global convergence was applied to parameters optimization. Finally, the optimal vibration parameters were as follows: vibration amplitude was 2.5 mm, frequency was 22 Hz, vibration direction angle was 50°, screen panel square hole dimensions was 0.9 mm, wire diameter was 0.45 mm, inclination was 21.6°. In summary, this methodology could be applied to the research of vibrating screen. Additionally, authors of the scheme are confident that the results will be useful to improve the design and manufacture of vibrating screen.

The traditional layout of automotive seat skeleton components mainly relies on the designer's experience, which leads to low design efficiency and non-optimal structure. This paper studied the layout design method of automotive seat skeleton components for the rear seat of a car with the plate-tube structure based on structural topology optimization design technology. Firstly, according to the shape and size requirements on skeleton appearance, the design domain was determined and the design model was constructed under the belt loading state. Secondly, the structural topology optimization design was carried out on the basis of the alterable density method, in which the maximum static stiffness was set to be the design objective. According to the result of topology optimization, two different schemes were put forward. Finally, the optimal design scheme was determined by comparing the FEA results, and the collision safety analysis was carried out. The results showed the suggested design method was effective, the skeleton weight was declined by 1.92%, while the overall static stiffness increased by 19.0%, and the safety requirement of dynamic collision was satisfied. The optimal components layout of seat skeleton is obtained by using the design method.

Aiming at the problems such as the low design efficiency of aviation blade die, serious wear and difficulty in parameters correction, based on UG/Open API, the die CAD system was developed by analysis of the blade die design process, and the parametric design of die was realized and die design efficiency was improved. Based on Archard correction theory, the influence of die design parameters on the precision forging of the blade was simulated by Deform-3D software. The influence of forging speed, the forming angle and the thickness of the bridge on the wear and life of the blade were analyzed by orthogonal test. The optimal combination parameters beneficial to extend the die life were determined and the design rules of them were optimized. It was accurate and simple to make the die design parameters be determined. Through the engineering experiment, the die wear and life were analyzed and the results were in good agreement with the simulation results. It is of great significance to optimize the design and wear analysis of air forging die.

For the purpose of water-saving irrigation, a set of the sprinkler irrigation control system was designed based on power line carrier communication. The system could get the field signal and control the actuator with master-slave multicomputer communication mode based on power line carrier communication means, and the host on the control centre room was as the core. Finally, the system test had been carried out. Results showed that the error rate was low, and the data transmission equipment operation was reliable and stable. The control distance reached about 300 m long. The system not only achieves the control purpose, saves the water resources, but also saves a large amount of communication cable, and has very good application value.

Tower as an important component of wind turbine structure system supports the quality of the upper structure, bears the dynamic load, and ensures the normal operation of wind turbine. Analysis of the tower structure was summarized to improve the design theory system of wind turbine structure. From the practical point of view, the key points, such as the selection of structure, static and dynamic characteristics, buckling characteristic and fatigue property were summarized based on the core of stiffness, strength, stability and anti-fatigue performance of wind turbine tower. Domestic and foreign achievements in different research stages of various fields were reviewed. At the same time, the research progress of hot spot issues designs, such as new type tower structure, random load dynamic analysis and nonlinear analysis of buckling and fatigue characteristic were introduced. After summarizing the research status of the above points, the principles and developing progress of related technologies were elaborated and the future research trend were predicted. The paper covers the main indexs of the wind turbine tower structure design and can provide guidance for the design and analysis of wind turbine tower.

Taking into account the emotional demands of consumers is an important developing trend of product innovation design. Based on the investigation of related literatures, the concept of emotional design was presented. The primary research theories, including Kansei engineering and threelevel theory,emotion measurement and parameter conversion methods were emphatically reviewed. Meantime,the main research field of emotional research was divided into three parts: product model,function and culture, and the three parts were discussed. Finally, aiming at the development situation of innovation design and its relevant technology, the limits and future development trend of emotional design were outlined．

A new reconfigurable industrial robot was developed with modular method. The robot's load weight ratio reached 1/4.5 by the optimized design of its structure. Each joint of the robot had the same structure, which reduced repetitive design work. And the transmission components of the joint were all standard parts, which reduced the cost. Through the combination of joint modules and arm modules, different robot configurations could be obtained. Aiming at one robot configuration, the forward kinematics model was established with DH method. Since the robot did not have adjacent three-axis that intersected at one point, it was difficult to obtain all inverse kinematic solutions by traditional method. Thus, a new method with the combination of algebraic and geometric methods was proposed to obtain all analytical solutions. Finally, the kinematic analysis of this robot was verified by examples. The kinematic analysis could provide a basis for subsequent robot motion control.

In order to improve the sealing reliability of the lead wire from the pressure chamber in the high pressure environment and ensure that the electronic equipment used in the downhole tool can work under atmospheric pressure, a kind of injection class high pressure sealing connector was designed. The sealing connector which filled with rubber and epoxy resin was analyzed based on the finite element software, and the experimental verification was carried out. Analysis and experiment results showed that when the filling material was rubber, the sealing property was good, but the material was easy to be squeezed out, and 88°was a better choice for the semi-cone angle of shell body. When the filling material was epoxy resin, material protrusion could be avoided, but there would be liquid leaking in a certain pressure range. When the filling material was rubber and epoxy resin, evagination distance decreased with increasing of epoxy resin and the use ratio of epoxy resin 40% was a good choice. High pressure sealing connector mainly relied on first five threads to bear load. The maximum stresses appeared at the minor diameter between first thread and second thread of shell body. The maximum stresses of contact pin appeared at the upper border between rubber and epoxy resin. The researching achievement has certain significance for design of high pressure sealing connector and selection of filling material.

To study the mechanical property of guide foot, the detecting system, which was based on non-destructive testing technology (NDT Tech), in which the pin sensors was installed with the same strength as the core shaft of guide foots and whose signal was transmitted online by wireless signal launcher, was designed to detect the force of guide foot under different conditions online by analyzing the force of the pin. Then the field test showed that, under the condition of oblique cutting, the loads of guide foots were at random, and the effective values of ear-plates' loads were 26.1 kN and 15.1 kN in the left guide foot and the right are 45.1 kN and 21.5 kN. By FEA, it's known that the places, where were the maximum stress of the left guide foot and the right one, which were 173.87 MPa and 187.85 MPa, were located at ear-plate of guide foot in the circumstances of maximal force. And testing and analysis results provide substantial theoretical and numerical basis for the design optimization of guide foots.

In order to establish the virtual prototyping model of a certain FSAE racing car and to assess its handling stability, the model of a certain Formula SAE racing car was established by applying the ADAMS/CAR module of mechanical system simulation software ADAMS. The main points and process of the modeling were introduced. The model of the race track was built and the best path of racing car in the track was obtained by ADAMS/CHASSIS. The extreme driving performance of the racing car in the track was calculated through Smart driver module simulation. By comparison to the actual results of competition, the correctness of the virtual prototyping model is verified, which provides a strong basis for the design and optimization of Formula SAE racing car. Based on the above results, the handling stability test of virtual prototype was performed. 〖JP2〗The research results show that the understeer tendency of the racing car is obvious, which achieves the design goal.

Aiming at the requirements of real-time interaction between the gait rehabilitation training robot and the patient，a sensing system for the contact force between them was developed. The lower limb exoskeleton robot dynamics model including the active force of human was established by Lagrange method，and the patient's lower limb movement intentions were analyzed to provide judgment criterions for the interactive control in gait rehabilitation training. The static and dynamic measurement experiments and the passive/active rehabilitation training measurement experiments were carried out on the gait rehabilitation training robot prototype system. The results showed that the sensing system could satisfy the detecting accuracy requirements for human-robot contact force, and acquire human movement intention in the rehabilitation training. The design of the human-robot interactive information sensing system lays a foundation for the research on the intelligent interactive control strategy of gait rehabilitation training robot.