Pipe conveyor is a kind of special belt conveyor which has extensive attention and has been widely used in recent years. Firstly, the structural design and improvement, design calculation method, theoretical research and test of performance for pipe conveyor were reviewed. Secondly, the relationship between the belt width and the pipe diameter, the bending performance and the running resistance of the belt were analyzed and the development trend of circular pipe belt conveyor was combed by summarizing the examples and research progress of the pipe belt conveyor domestic and abroad. Since the design mechanism and the belt characteristics were confused, the forming force could be used to characterize the bending performance of the belt or the transverse bending stiffness of the conveyor belt mechanically. The transverse bending stiffness of the conveying belt couldn't be directly reflected by the contact force for the gravity action of conveyor belt. Thirdly, a formula for calculating lap width, according to actual application and recommended by CEMA, of conveyor belt was put forward by the bandwidth and diameter ratio, which the excessive width of laps was simulated with the domestic standard. Finally, a new method, considering belt thickness and lap width, to determine the width and diameter of the pipe conveyor was provided because the diameter of pipe was presented by the outer diameter but the cross-sectional area of the bearing material was influenced by the belt thickness, and the calculation formula of pipe resistance, forming resistance and bending resistance of pipe conveyor was presented. The provided method and influence factors including transverse stiffness and forming force are applied in the engineering design of pipe conveyor, which is closer to reality than the existing methods. It provides a basis for the further development of the pipe conveyor.

The increase of consumer demand for personalized products has requested increasingly high customization capacity to manufacturing enterprises. But the low information level, insufficient manufacturing resources and other issues of existing manufacturing enterprises, have seriously affected the process of manufacturing enterprises to transform to customized production. In view of the above situation, combined with cloud manufacturing technology, the personalized customization based on cloud manufacturing production mode was proposed. In order to study the operation mode of personalized customization of products in cloud manufacturing and explain the main function of cloud manufacturing platform in the customization process, the relevant research from the aspects of architecture, service process and key technology were reviewed and introduced, and then the applications of customized production mode in automobile, software and clothing industries were listed. Finally, the research trend was forecasted. Analysis shows that cloud manufacturing platform provides services to help to solve the difficulties single manufacturing enterprises faced when they implement personalized customization through convergence global manufacturing resource. Personalized customization of products in cloud manufacturing can satisfy personalized needs of customers fast and efficiently at a lower price.

With the development of society and the progress of science and technology, consumers prefer to choose personalized products. Therefore, multiple-variety and small-batch production mode becomes the mainstream of manufacturing. However, under the multiple-variety and small-batch production mode, it is difficult for companies to control quality and analyse process capability because of the lack of process data. To solve this problem, processes which were similar to target process were sorted out using the principle of similarity cell based on factors which influenced the processes, and then the target process and the similar processes were made into one group. After data from different processes was transformed to the standard, the sample space of target process was expanded. Then quality control and analysis of process capability were carried out on target process using the expanded process data. At last, a turning process in a workshop was taken as an example, its process capability index was obtained by using the proposed method. The result showed that the capability of target process was satisfactory, and the result agreed with the reality. The results show that much convenience can be brought to enterprises to control quality and analysis process capability under the multiple-variety and small-batch production mode.

The kinematic parameter identification technique of robot arm is effective for enhancing the absolute positioning accuracy. For the low efficiency of the general calibration methods based on planar constraints, which data can only be captured by manual teaching method, an automatic method was proposed for the kinematic parameter identification of the robot arm with the help of a stereo vision system to locate the constraint planes. In order to remedy the limitation of the common field range of two industrial cameras, three target spots were attached to each constraint plane, so the location of each constraint plane could be equivalent to locate their target spots correspondingly. The binocular stereo vision system extracted the center of target spots and then matched them respectively, so that the 3D position information of each target spot in the base coordinate system of the robot arm was calculated. Meanwhile, a target coordinate system was built to plan the constraint points according to a certain rule. To enhance the calibration precision further, an error model based on two planes perpendicular to each other was proposed, then a set of nominal vectors of each plane were calculated by three non-collinear constraint points and the dot product of each pair of nominal vector was zero, namely, there existed an extra restraint in the error model. Then a probe fixed to the end flange of robot arm was used to touch two perpendicular constraint planes automatically, and the actual values of all kinematic parameters could be identified by the improved least squares. Experiments showed that the absolute positioning accuracy of the robot arm was enhanced from 1.234 mm to 0.453 mm after modifying the kinematic parameters based on the proposed error model. The proposed method realizes automatic measurement of data, and highly increases the efficiency of robot arm calibration, and provides a reference for mass calibration, which has great significance of engineering.

With the development of unmanned marine systems, self-launch and self-recovery technology has become a bottleneck for the breakthrough of AUV technology. Recovering AUV with USV is becoming one of development trends for the cooperation of unmanned marine system. Currently, some programs of recovering AUV with USV have been proposed by some foreign research institutions. However, these designs are far from mature. An AUV dynamic recovery device with USV was designed. This device was connected to a winch fixed on the USV with a V-shaped wing attached to the bottom to maintain its stability, so that the device launched and recovered AUV self-during navigation. Firstly, the research status of AUV self-recovery technology was introduced. Then the design background, structure and stability of the recovery device were analyzed. Finally, the dynamic process of AUV underwater docking was simulated using hydrodynamic software CFX, so the change of resistance when the device was docked under different working conditions was obtained. Numerical simulation results showed that, in the process of docking, the friction resistance of the AUV became large gradually. When the AUV approached the recovery device, the pressure resistance decreased rapidly. However, the total resistance of AUV increased first and then decreased. The analysis results showed that the designed recovery device had good stability. The research has guidance value for the dynamic recovery of AUV.

PDC bit is widely used because of its high drilling efficiency. Nevertheless, when drilling in complex formations, such as the hard laminated formation, gravel formation and multi-interbedded formation, due to frequent stress changes and lower working stability, the service life of the PDC bit will be significantly reduced since impact failure will occur within the PDC cutters that suffer severe load fluctuation. Aiming at prolonging service life of the PDC bit used in complex formations, a new PDC bit with divided gage pad was put forward, and the analysis on the working stability and flow field characteristic for PDC bit were conducted. Based on the analysis results, the main cutting structure and the divided gage pad was designed and optimized. Regarding to the situation of large dimensions of sandstone and conglomerate, the new PDC bit with divided gage pad was proved to be successful in field test. Results of the field test showed that the borehole was of high quality, and the total footage of the PDC bit was 1 339.16 m, including 605 m sandy conglomerate formation, saving 6 tripping times with high rotation speed and long service life. The research result shows that the technique of divided gage pad can significantly improve the working stability and adaptability of the PDC bit in hard or inhomogeneous formation, and this proves that the technique is effective to improve the performance of PDC bit drilling in complex formations.

Uncertainty existing in robot manipulators would decrease the kinematic accuracy, so the modeling and analyzing of time-dependent kinematic uncertainty for robot manipulators were carried out in order to improve the kinematic accuracy. Firstly, the error model of position and pose for reference point of end-effector was established based on kinematic analysis. Then, models of point kinematic reliability and time-dependent kinematic reliability for positional accuracy and system reliability model for robot manipulators were proposed based on the error model of position and pose. At last, an envelope method with high efficiency and high precision was utilized to solve the mentioned reliability models above, and effectiveness of the proposed reliability models and solution method were verified by means of Standford robot. The results showed that the reliability model could effectively obtain the time-dependent reliability of each coordinate component and system reliability of the robot manipulators. Thus the research provides a new method for improving kinematic accuracy of robot manipulators.

In order to eliminate the influence of spectrum leakage and fence effect on the fundamental wave extracting, extract the fundamental component quickly and accurately, and finish the accurate calculation of the ratio difference and the angle difference, the fundamental wave extraction algorithm based on adaptive frequency tracking was used in the transformer calibrator automatic verification system to extract the fundamental component. In the automatic verification process, the calibrator checked the output signal of the verification device and extracted the fundamental component of the signal, then calculated the ratio difference and the angle difference. The system PC compared the calculated results to determine the verification effect of the transformer calibrator. The simulation experiment showed that the fundamental wave extraction algorithm based on adaptive frequency tracking could steadily track the frequency which changed slowly and the tracking error could be controlled between 0 to 0.02 Hz. The test accuracy of the ratio difference and the angle difference with the algorithm could reach 0.002 8% and 0.012% respectively, so the system calibration accuracy could reach 0.05 level. The test results indicated the algorithm could track and record the fluctuation of the grid frequency at 50, 50.5 Hz in real time, and overcome the fundamental frequency of the fundamental frequency caused by the fluctuation, which greatly improve the accuracy of the fundamental component extraction. The research results show that the fundamental wave extraction algorithm has a certain effectiveness and practicability in the verification of the transformer calibrator.

In the process of the operation of the high-speed large-stroke circular slide system, the circular orbit curve and the rail paragraphs connection issue causes series of questions, like the operation process of load truck is unstable, the response rate is not fast, and the positioning error of the terminal position is large, and so on. A set of double-track mechanical sliding structure was designed, which could effectively improve the stability of the truck. As the aspect of the control system, the position loop adopted feedforward control, to improve the accuracy of motor control system combined with PID control. The mathematical model of the circular slide platform was established, a simulation model based on feedforward control in MATLAB simulation environment was established, and the experimental platform was built according to the simulation model. The results of the simulation experiment showed that, without feedforward control, the range of tracking error was[-0.4 0.4] mm, and the range of tracking error was[-0.18 0.18] mm after the introduction of feedforward control. It could be calculated and concluded that after the introduction of feedforward control, the tracking accuracy of the system was increased by 1.2 times and the response rate of the system was increased by 16.7%. It was shown that under the condition of feedforward control the theoretical position error of the truck could maintain at[0.2 0.2] mm by the experimental results and the actual position error of the truck was 0.69 mm. Both errors were less than 1 mm which was the design required, and the system had a fast response speed. The research results provide effective reference data for the mechanical design scheme and performance testing process of the sliding rail system. At the same time, the results will promote the industrial automation of the rail system test.

Tracked vehicles have the advantages of less ground pressure, better performance, etc., but the bad working environment makes it more vibrant, which has a great influence on the ride comfort. Therefore, a method for analyzing the ride comfort of tracked vehicles based on nonuniform coefficient of link was proposed. Firstly, by analyzing the correlation theory of the nonuniform coefficient of link, it was concluded that the main factors affecting the nonuniform coefficient were the distance of track link and the radius of the root circle of the driving wheel. Then, based on the RecurDyn dynamics software Track (LM) subsystem, the track walking devices with nonuniform coefficients of 1.043, 1.094 were modeled respectively, and the dynamics simulation was performed under the uniform motion condition of the hard ground, the influence of nonuniform coefficient on vehicle ride comfort was discussed in three aspects, which included the force between the tracked plate and the ground, the force between the tracked plate and the driving wheel, and the force between the supporting wheel and the ground. The results showed that the nonuniform coefficient could be reduced by reducing the distance of track link and the effect of uniformity coefficient of 1.043 on the vehicle ride comfort was significantly greater than that of 1.094. It provides practical reference value for the design and research of tracked vehicles.

Nonlinear contact analysis can be closer to reality when dealing with contact problems, however, the complicated contact parameter setup, low computation efficiency and the computation convergence with no guarantee, which make contact analysis difficult to be applied to engineering practice. Node coupling analysis is a linear analysis without convergence problem, so the node coupling analysis is superior to the contact analysis because of its lower computational expense. In order to explore the differences in the application between the two models and study the feasibility of using the node coupling linear analysis instead of the nonlinear contact analysis, the trackless telescopic gantry crane with 12 ton lifting capacity was taken as the example, and the finite element analysis software ANSYS was used to establish a contact model and a node coupling model. The influences of contact stiffness and friction coefficient on the calculation results was considered, and the equivalent stress differences of each contact part between two models were compared under the condition of telescopic leg extending. By comparing the computation results, it was found that the maximum equivalent stress of two models appeared at the crane frame where the lifting load was applied. Besides, there was no significant difference with the relative error was 1.3%. Furthermore, the equivalent stress value of each contact part had some differences since the node coupling analysis neglected the friction coefficient, therefore, the relative error can be reduced by selecting the appropriate friction coefficient in the contact model according to the relative sliding of the contact part. According to the results, considering the influence of relative sliding on the calculation results, node coupling analysis can simulate contact analysis favorably, for models with no high precision or no relative slip of the contact area, a simplified approach based on node coupling analysis can be used to replace contact analysis to improve computational efficiency.

To overcome the problems of the low digital design degree, the uncontrollable virtual model and inconsistent matching incompatibility in the virtual reality simulation of fully mechanized coal mining face, key technologies of virtual collaboration of three machines were proposed based on Unity3D. Firstly, a virtual reality panoramic scene of fully mechanized coal mining face was established and the key technologies which were consisted of the building and repairing of three virtual model, the virtual bending technology of scraper conveyor, the virtual running technology of shearer and the sensing principle technology between the shearer and the hydraulic supports were researched. Then, taking two-way beveling feeding coal cutting mode as an example, it was found that the dynamic relationship, attitude and performance of three machines could be accurately simulated at a very vivid image, and the shearer haulage speed and the follower distance of hydraulic supports could be planned according to the different working conditions. The technology improves the digital design degree of fully mechanized coal mining face and can provide adequate technical support for planning, analysis and decision-making of fully mechanized coal mining face.

In order to improve the ability of disturbance rejection and noise suppression of the permanent magnet synchronous motor (PMSM) speed regulation system, three kinds of linear active disturbance rejection control (LADRC) were designed for the PMSM speed loop such as the traditional LADRC (TLADRC), the high-order LADRC (HLADRC) and the reduced-order LADRC (RLADRC). The differences among the proposed LADRC were the linear extended state observer (LESO), such as the traditional LESO (TLESO), the high-order LESO (HLESO) and the reduced-order LESO (RLESO). The stabilities of the speed loop controlled by the three LADRC were demonstrated by employing the superposition principle, and the convergence conditions of the proposed LESO were analyzed at the same time. And then, through frequency domain analysis of the various LESO, it could be concluded that TLESO had the maximum phase lag, which resulted in the worst disturbance estimation ability. HLESO had the maximum amplitude gain in mid-high frequency areas, which made the robustness the worst, while RLESO had the minimum phase lag, which led to the best disturbance estimation ability. Finally, the simulation of the PMSM speed loop controlled by the various LADRC was carried out by using MATLAB/Simulink, and the simulation results verified the conclusion of the frequency domain analysis. The speed curve with TLADRC had the biggest speed dropped in resistance to disturbance, the speed curve with HLADRC had a little oscillation, and the RLADRC had both excellent resistance to disturbance and noise suppressing ability. The obtained conclusion can provide powerful support for selecting LESO in LADRC, and provide a theoretical basis for optimal design of PMSM speed control system.

In order to improve the pile driving quality and work efficiency of pile hammer, a new large flux hydraulic pile hammer which is designed based on cartridge valve is presented. By analyzing the structure and working theory of the electro-hydraulic control system of the pile hammer, the dynamic model of hydraulic system driving piles to hit piles was established. And the electro-hydraulic simulation system of pile hammer was constructed based on the AMESim platform, and the experimental platform was established. The dynamic characteristics of the hammer hitting process of the pile were simulated and studied. The simulation and experimental results showed that not only the basic functions of the hydraulic pile hammer could be satisfied, but also the hitting energy could be regulated steplessing by the system. In addition, the control efficiency of the hammer was high and the reversing pressure fluctuation was small, and the hitting energy and the repeatability accuracy could be guaranteed. It provides an important basis for the optimization of pile hammer parameters and development of new hydraulic hammers.

Impact stress is one of the main environmental factors that affect the contact performance of electrical connectors. In view of the high cost, long consuming time and difficult to implement some high strength environmental tests, the change rules of the contact performance parameters of electrical connector contacts under the impact environment are studied by simulation. Based on the basic principles of theoretical mechanics, the physical model of electrical connector contact was established by ANSYS, and the dynamics model was used to simulate the real impact test, the effects of the test severity level, pulse duration and peak acceleration on the deformation, stress and contact force of contacts were analyzed, and some simulation results were verified by test. The results showed that, during the process of impact test, among the contact parameters, the contact deformation was affected most by the impact. The contact parameters increased slowly and then increased rapidly with the increase of severity level; and they decreased rapidly and then decreased slowly with the increase of pulse duration; but they were basically stable when the peak acceleration changed. It can be seen that the test severity level and pulse duration play dominant roles in the change of contact performance parameters, and the simulation results can provide a theoretical reference for product design.

To study the effect of the shearer drum cutting load to the four hydraulic pull rods, the force model of the four hydraulic pull rods was established under the shearer working load by using the small displacement deformation coordination principal and the statics equilibrium equation, and the load formula was derived. Assuming the pre-tension load of four pull rods was 500 kN, the force model of the pull rod was solved by input the test loading of the drum and the sliding shoes. The test results showed that the deformation average of four pull rods were 3.164 2, 1.934 8, 2.353 8, 2.248 8 mm respectively. The loads of the four pull rods were different in the working process of the shearer, where the largest load of pull rods was on the upper coal wall, the average value was 536 578 N, the lowest load of pull rods was on the goaf, and the average value was 449 991 N. The accuracy of the pull rod force model was verified by the test. The research results provide the convenience to the setting of the pre-tension force of the shearer hydraulic pull rod and the lifetime analysis.