Aiming at the steering driving conditions of four-wheel independent drive and four-wheel independent steering (4WID-4WIS) intelligent vehicles, a new method for trajectory planning using third-order Bézier curve was proposed based on the Ackerman steering principle. Firstly, an optimal trajectory with minimum curvature difference was obtained by using the optimal function, which met the initial state constraints and target state constraints of intelligent vehicle and the curvature continuity constraints. Then, a position estimation algorithm was proposed, which calculated the position increment of intelligent vehicle based on the navigation angle measured by the inertial navigation system and the pulse number of encoder, so as to estimate its position during driving and calculate the driving trajectory length. Finally, the planned intelligent vehicle trajectory was simulated in the MATLAB software, and the rationality and feasibility of the trajectory planning method and position estimation algorithm were verified on the real vehicle test platform. The results showed that the 4WID-4WIS intelligent vehicle could drive to the given end point according to the planned trajectory, and its lateral position estimation error was 0.19%, the longitudinal position estimation error was 0.20% and the driving trajectory length calculation error was 0.22%; compared with other single algorithms such as mileage calculation method and ranging method, the proposed position estimation algorithm had high precision, which can provide reference for trajectory planning and position estimation of other mobile robots.

In order to improve the obstacle-surmounting performance of mobile robots and realize autonomous obstacle-surmounting, a wheel-track-leg composite bionic robot was designed, and its gait planning and obstacle-surmounting performance were analyzed.Firstly, taking the turtle as the bionic object, through analyzing its body structure and stability mechanism, the wheel-track-leg composite mobile mechanism and the two degree of freedom leg structure of the robot were designed; at the same time, based on the structural characteristics of the robot, the coordinate system was established by D-H (Denavit-Hartenberg) method, and the kinematic equation of its leg was solved. Then, by observing the turtle\mathrm{’}\text{?}s crawling process, the movements in a single crawling gait cycle were decomposed into leg release, crawling, leg lift and leg swing. Combined with the kinematic model, the gait planning for the robot was carried out, and four imitation turtle crawling gaits were proposed. And then, taking the four-legged crawling gait of the robot as an example, the force of its leg joint was analyzed by the statics method. Then, through analyzing the process of the robot crossing trench and climbing step, the obstacle-surmounting performance was evaluated by taking the maximum crossing trench width and climbing step height as the index. Finally, the robot experimental prototype was made to carry out the gait experiment and obstacle-surmounting experiment. The experiment results showed that the robot could use four imitation turtle crawling gaits to realize lateral movement, longitudinal movement and in-situ rotation, and had good obstacle-surmounting performance and stability; the robot could cross the trench with a maximum width of 434 mm and climb the step with a maximum height of 175 mm.The experimental results further verified that the designed imitation turtle mechanical structure was feasible, the planned imitation turtle crawling gait was reasonable, and the established theoretical model of obstacle-surmounting was correct. The research results can provide reference for the structural optimization and obstacle-surmounting performance improvement of mobile robots.

Aiming at the loss of upper limb motor function caused by brain nerve injury in stroke patients, the robot assisted training combined with mirror therapy can effectively promote the remodeling of brain neurons by promoting the coordinated movement of bilateral limbs, so as to realize the recovery of motor function. Therefore, a somatosensory interactive upper-limb mirror rehabilitation training robot system was proposed by effectively combining the mirror rehabilitation theory, virtual reality technology and robot technology. The pose information of human healthy limb was collected by the motion capture equipment, and the motion trajectory of upper-limb rehabilitation training robot was mapped by designing a human-machine mirror motion mapping algorithm. Considering the flexibility of rehabilitation treatment, the robot joints were driven by oscillating cylinders based on proportional pressure control; at the same time, according to the characteristics of pneumatic system, the trajectory tracking control strategy of PD (proportional differential) + speed feedforward compensation was designed to realize the mirror rehabilitation training of coordinated movement of bilateral limbs. The feasibility and effectiveness of robot system in the mirror rehabilitation treatment were verified by the composite motion trajectory planning test and the mirror mirror rehabilitation training test for the robot system prototype. The designed robot system provides a design idea and implementation method for the clinical needs of rehabilitation training for the cooperative movement of human bilateral limbs.

The mountain geophysical drilling rig driven by fuel engine has loud noise, serious exhaust emission, low drilling efficiency and inconvenient disassembling and handling. In order to solve the above problems, the modular design scheme of mountain geophysical electric drilling rig was put forward by using electric energy drive instead of fuel engine drive. Based on the fuzzy comprehensive evaluation method, the quantitative evaluation of the driving motor and transmission mode of the electric drilling rig was carried out, so it was determined that the driving motor was permanent magnet synchronous motor and the transmission mode was sprocket chain transmission. At the same time, through comparison, turbo worm reducer, π-shaped chassis and single mast were respectively selected as reducer, support parts and guide parts of the electric drilling rig. On this basis, the safety analysis of electric drilling rig was carried out using finite element analysis. The results showed that the maximum stress of the drilling rig occured at the right angle of the π-shaped chassis connecting the mast, which was less than the allowable stress of the drilling rig material. It also indicated that the structure of the drilling rig was safe, and motor circuit was safe and reliable. The drilling test results showed that the quality of the independently designed mountain geophysical electric drilling rig was reduced by 57% compared with the existing mountain geophysical drilling rig. The drilling operation had low noise and no tail gas emission. The maximum lifting force and torque provided exceeded 71% and 6.25% of the design standard respectively, indicating that its overall performance met the requirements. The research results provide a reference forthe research and development of green and efficient oil and gas exploration equipment.

Aiming at the limited output stroke of piezoelectric actuator and piezoelectric driving platform, a triangular hybrid two-stage lever micro-displacement amplification mechanism was designed. Firstly, the displacement amplification formula of the micro-displacement amplification mechanism was deduced theoretically, and the displacement amplification ratio was obtained; secondly, the sensitivity of fulcrum hinges of two-stage lever structure with different types to applied load was analyzed; finally, the static and dynamic simulation of the mechanism was carried out by using ANSYS software, and the relative parasitic motion ratio and natural frequency of the mechanism were analyzed. The results showed that when the straight beam hinge was selected as the fulcrum hinge of the two-stage lever structure, the mechanism was more sensitive to the applied load; the relative error between the theoretical value and the simulation value of the mechanism displacement amplification ratio was 9.56%, the relative parasitic motion ratio was 0.348 2，and the first natural frequency was the best. The designed micro-displacement amplification mechanism has relatively small parasitic displacement, relatively strong anti-interference capability and relatively good dynamic performance. The research result provides a certain theoretical guidance for the piezoelectric driver or fast mirror support structure to realize a large range of displacement output.

In order to explore the influence of maintenance site selection on the formulation of multi-component maintenance strategies for electric multiple units, considering the factors such as maintenance mode, maintenance site category and maintenance personnel, and with the goal of reducing maintenance cost and maintenance time, a multi-component dual-objective group maintenance model for electric multiple units considering maintenance site was established. Firstly, based on the bi-level imperfect maintenance mode, the constraint of maintenance site on maintenance mode was introduced, and the maintenance mode was further selected through the selection of maintenance site. Then, a component maintenance task allocation algorithm was proposed to realize the optimal match between maintenance personnels and component maintenance tasks, so as to minimize the system maintenance time; at the same time, the algorithm was introduced into genetic algorithm to solve the group maintenance model considering maintenance site and system maintenance time. The example analysis showed that the proposed maintenance strategy reduced the maintenance cost and maintenance time of system on the premise of meeting the reliability requirements of electric multiple unit components. The research results can provide a theoretical reference for the reasonable formulation of electric multiple unit maintenance strategy.

In order to ensure the balance and stability of the opening and closing docking device of the AUV (autonomous underwater vehicle) when it is in the single point mooring suspension statin in water, the counterweight optimization design must be carried out.Through the displacement analysis of the opening and closing docking mechanism, the position variation range of gravity center and buoyancy center of the docking device was obtained; based on the static theory, the relationship between the relative positions of gravity center, buoyancy center, towing point and the suspension balance trim angle of the docking device was established and analyzed. In order to reduce the suspension balance trim angle and its fluctuating value of the docking device and minimize the mass of the docking device after counterweight, the counterweight optimization model of AUV docking device was established. And the optimal design of counterweight parameters such as characteristics size of counterweight lead blocks, buoyant material and towing point positions was carried out adopting SQP (sequential quadratic programming) method. Through the experiment of single point mooring suspension of the docking device, it was verified that the docking device met the design requirements after counterweight optimization. The results showed that compared with the free towing frame, using fixed towing frame could increase the vertical distance between the towing point and gravity center, which was very conducive to the underwater suspension balance of the device; compared with empirical counterweight design, after configuration optimization, the total mass of the device was reduced by about 13.4 kg, the fluctuating value of suspension balance trim anglewas reduced by about 90.68%, and the metacentric height was increased by about 7.63 mm. The mooring suspension balance of AUV connection system after counterweight optimization was in good condition. The establishment and analysis results of the counterweight optimization model have certain guiding significance for the counterweight design of the underwater docking towing body and its towing frame scheme design.

In order to solve the problems of low work efficiency, serious energy loss and large joint impact wear of industrial robots, a hybrid algorithm (referred to as CSNSGA-II) based on cuckoo search (CS) algorithm and non-dominated sorting genetic algorithm-II (NSGA-II) was proposed for trajectory optimization of robots. The quintic non-uniform rational B-splines (NURBS) curve was used as the trajectory planning curve of the industrial robot. At the same time, the motion time, energy consumption and impact wear were taken as the optimization objectives and the corresponding multi-objective trajectory optimization model was constructed. Under the constraints of speed, acceleration and jerk, the CSNSGA-II was used to optimize trajectory. The CSNSGA-II initialized the time series with the Tent chaotic map, and used the infeasibility algorithm to divide the solutions into feasible solution and infeasible solution, and then the infeasible solution was processed by the improved CS algorithm. The 6R Bronte robot was modeled and simulated by using the MATLAB software, and the obtaind non-dominated solution set and the normalized weighted iterative optimal value were compared and analyzed. The simulation results showed that, compared with the NSGA-II and the multi-objective particle swarm optimization (MOPSO) algorithm, the proposed CSNSGA-II could optimize the trajectory of 6R Bronte robot more effectively, and the non-dominated solution set was more uniform and close to the real Pareto front, and the final trajectory curve was relatively smooth, which could meet the requirements of high efficiency, low energy consumption and less impact wear of 6R Bronte robot at the same time. The proposed method can provide guidance for further promoting the widespread application of industrial robots in production and improving production capacity and efficiency.

Aiming at the "top-heavy" problem of the previous generation of automatic plastering machine, an automatic plastering machine based on wire rope transmission was designed based on the concept of lightweight design.The device was mainly divided into transverse and longitudinal movement module, trolley module and spraying module. The plastering of the whole wall could be completed quickly and efficiently through the transmission of a closed steel wire rope.The stress analysis and calculation of the main bearing part of the automatic plastering machine—steel wire rope was carried out. The calculation results showed that the selected 6*7+IWS steel wire rope met the requirements of working conditions.The operation cost of automatic plastering machine was analyzed and compared with that of manual plastering, which showed that the operation cost of automatic plastering machine was relatively low and had a good market prospect. With good working performance, high working efficiency and strong environmental protection, lightweight automatic plastering machine has high application and promotion value in modern building construction.

Aiming at the large deformation, large deflection and other geometric nonlinear behaviors of the flexible component of the compliant dwell mechanism in motion, the pseudo-rigid body model method was used to analyze this kind of nonlinear large deformation system. Firstly, based on large deflection theory, the buckling analysis of large deformation flexible beam was carried out. The first and second kinds of elliptic integral were used to simulate the flexible beam whose initial state was straight beam, and the load-displacement relation formula was obtained by polynomial fitting. Combined with boundary conditions and force characteristics, the equivalent nonlinear spring pseudo-rigid body model of flexible beam was obtained. On this basis, the kinematic equation of the mechanism was established by using Newton's law, the position of the slider when the crank rotated at a uniform speed was obtained by MATLAB/Simulink modeling and simulation. So the slider displacement curve with double stop characteristics of the mechanism was obtained, the relationship between the slider displacement and time and crank angle was revealed, and the accuracy of the theoretical model was verified by ADAMS(automatic dynamic analysis of mechanical systems) simulation. Secondly, in order to improve the operation accuracy and working performance of the compliant dwell mechanism, its frequency characteristics were studied. Using Lagrange equation, the dynamic model of the mechanism was established from the whole, the analytical expression of the natural frequency of the compliant dwell mechanism was derived, and the influence of section parameters of flexible long beam, length of flexible beam and material performance parameters on the natural frequency of the mechanism were analyzed. The results showed that different parameters had different influences on the natural frequency of the mechanism, so the influences of various parameters on the dynamic characteristics of the mechanism should be comprehensively considered in the optimal design of the compliant dwell mechanism. The research results lay a foundation for the optimal design of compliant dwell mechanism.

Traditional elevators mostly adopt chain transmission and steel wire rope transmission, which has the problem of large space occupation, poor operation stability, high noise and large amount of maintenance.Based on the functional requirements of display automation production line and according to its process requirements, a multi-input and multi-output elevator with reversing load transfer device and transverse load transfer function driven by synchronous belt was designed.On this basis, the rigid-flexible coupling model of the elevator was established based on multi-body dynamics theory. ADAMS (automatic dynamic analysis of mechanical systems) software was used to simulate and analyze the dynamic characteristic of the elevator, and study the operation stability of the synchronous belt transmission system and the pallet.The results showed that the designed synchronous belt transmission mechanism could meet the functional requirements of multi-input and multi-output of the display automatic production line, and the running stability was better;the running speed error of the pallet was less than 1%, the cumulative position error was less than 7 mm, and the higher positioning accuracy could be obtained; the guiding device couldoffset the load torque, so that the transmission was stable, and ensure the stability of the counterweight and the pallet in the lifting process. The research results provide a certain theoretical reference for the good application of synchronous belt transmission elevator in automatic production line.

In order to meet the needs of oil and gas exploration enterprises for clean, economic and highly reliable production under the background of carbon neutralization, a new electricity-replace-oil driving device based on the variable frequency speed regulation of two megawatt alternating current asynchronous motors was designed. Based on the modularization idea, the split modular box structure for high-voltage transformer and low-voltage transmission was designed,which improved the convenience of dispatch and use of the electricity-replace-oil driving device. The high-voltage transformer module was adopted the twelve-pulse rectifier transformer, which realized that only the transformer cost increased by 25% under the premise of no significant increase in the inverter cost, so as to greatly save the reactive power compensation cost. Especially in the high-power drilling section where the proportion of on-site electricity consumption was low, the measured power factor of the device was over 0.95. Aiming at the problem of unbalanced load in the dual-motor cooperative control, a PLC (programmable logic controller) control system based on the master-slave control structure was designed, and the speed matching control was combined with the converter droop control to control the motor speed deviation within 10%; at the same time, the designed control system could support the multi-place operation and remote monitoring of field data, which improved the reliability of the electricity-replace-oil driving device. The test run results showed that the designed electricity-replace-oil driving device could meet the actual engineering needs; compared with the traditional diesel driving device, it could save cost by 52% and reduce the carbon dioxide (CO₂) emission by 27% per month. The designed device has certain practical value in the field of energy conservation in oil and gas exploration.

In view of the lack of research on vigor detection device for batch seeds in China and the irreversible damage to seed samples caused by traditional detecting methods, a non-destructive detecting method using tunable diode laser absorption spectroscopy (TDLAS) technology to detect seed respiration intensity to determine its vigor level was proposed, and a detection device was designed to realize the batch detection of seed vigor. Firstly, the overall structure of the vigor detection device for batch seeds was designed, and the process flow and requirements of feeding?detection?sorting?reset were determined. Then, the structural design of the key component, the seed box, was carried out, at the same time, its internal optical path was theoretically designed, and the optical path was simulated and analyzed by the Zemax optical design software. And then, the software and hardware design for the detection device control system was carried out. Finally, a detection device prototype was built up, and the feeding, detecting and sorting tests were conducted. The test results showed that the designed vigor detection device prototype for batch seeds had good stability, and its comprehensive success rate was 96.67%. The research result can provide a reference for the commercialization and marketization of the vigor detection device for batch seeds.

The urban tidal traffic congestion problem can be solved by setting up variable lanes. Aiming at the problem of single control mode and low intelligence of variable lanes, a mobile robot was designed to carry guardrails to complete the lane isolation.In order to solve the high-precision positioning problem in the outdoor road environment, combined with the actual application scenario, a wireless positioning system and double label fusion positioning method were designed by using the ultra wide band (UWB) technology, which realized the position and gesture calculation for the carrier robot during operation. According to the position and gesture information of the carrier robot and its motion model when loading guardrails, the corresponding motion control algorithm was designed to enable the robot to complete the automatic deviation correction during operation.In addition, the relevant data during the carrier robot operation interacted with the remote server through the LoRa (long range radio) networking to realize remote monitoring. The test results showed that the repeated positioning accuracy of the designed UWB positioning system was about 0.07 m, which could meet the requirements of high-precision positioning in the outdoor environment; the designed motion control algorithm could relatively better realize the motion control of the carrier robot and achieve expected effect. The carrier robot system can provide reference for the intelligent control of variable lanes, and has a good engineering application prospect.

In order to realize the positioning and dynamic tracking of moving target in indoor open environment, an automatic following system of mobile robot based on annular infrared array was designed. The ranging compass with active annular large field of view was used as the environmental sensing sensor, which consisted of several infrared ranging sensors to form a circumferential array to realize the two-dimensional positioning of the moving target within the range of 10-80 cm in 360°annular direction, so that the following robot could quickly determine the distance and yaw angle between it and the moving target, so as to realize the accurate positioning of the mobile target. According to the position information of the target and using PD （proportion-differentiation） controller to control the movement of the following robot, the following robot maintained the relative distance and angle with the target, and realized the automatic following of the moving target. The mobile trajectory of the following robot and its detection of the surrounding unknown environment could be displayed in real time on the upper computer operation interface. It was proved that the ranging compass could effectively locate the target and meet the design requirements of robot following moving object. The reliability of ranging compass and automatic following system is relatively high, which can provide device support for robot cluster formation.

The step-by-step working characteristic of roadheader makes it difficult to realize directional tunneling, which has always been a technical problem at home and abroad. In order to realize the position and attitude measurement of coal mine roadheader, a navigation system of roadheader based on the combination mode (integrated navigation system) was proposed. Firstly, taking the laser beam of the cross laser pointer as the recognition feature, combined with the self-developed laser receiving target, the photoelectric sensor navigation system was set up, and the position and attitude calculation model of roadheader body was constructed; then, the measured data of the photoelectric sensor navigation system and the optical fiber inertial navigation system were fused by the recursive least square (RLS) algorithm to calculate the position and attitude of roadheader body; finally, according to the measurement results of the position and attitude of roadheader body, the deviation correction control for the roadheader was realized through the PLC (programmable logic controller), so as to effectively solve the problem of directional tunneling.Taking the MB670 anchor digging machine as the experimental object, the measurement error of the designed integrated navigation system was analyzed through field experiments.The results showed that the integrated navigation system could effectively measure the position and attitude of the coal mine roadheader body; the position measurement error of roadheader body was within ± 20 mm, and the attitude angle measurement error was within ± 0.15°, which met the requirements of coal mine roadway construction accuracy.The navigation system of roadheader based on the combination mode has the advantages of high precision and good reliability, which makes up for the measurement defects of the single navigation system, so it can provide a theoretical basis for the intelligent control of directional tunneling of roadheader.