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.

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.

CRTSⅢ ballastless track slab is the cornerstone of modern high-speed railway operation. However, due to the large size of the track slab, the complex contour of the rail support platform and the high requirement of surface accuracy, the traditional sampling inspection methods cannot achieve the production traceability of each track slab. Therefore, a rapid detection method for contour dimensions of vertical CRTSⅢ ballastless track slab based on point laser measurement technology was proposed. Firstly, the key contour data of the track slab and its rail support platform were collected simultaneously by using point laser sensors in conjunction with magnetic grid ruler. Then, a point laser data preprocessing method based on difference processing was designed, and the key contour dimensions were fitted and calculated by using the least square method, so that the automatic detection of contour dimensions was achieved within the production cycle required by the track slab production line. The proposed detection method and the three-coordinate detection method were used to detect nine rail support platforms of the same track slab and their accuracy was compared. The results showed that the difference in measurement results between two detection methods was very small. The proposed detection method was used to measure the small jaw distance of the rail support platform for five times, and the results showed that the maximum range was 0.010 mm. The research results show that the detection method based on point laser has high accuracy and good consistency, which can greatly improve the detection speed of the track plate and has high application value.

Underwater welding is widely used in many fields, but its welding quality is difficult to guarantee. Aiming at the problems of high nonlinearity, strong parameter coupling and low detection efficiency in underwater welding process, a new method for underwater welding quality detection based on acoustic signal recognition was proposed. The method constructed a monitoring system based on acoustic signal acquisition underwater to collect the acoustic information during the welding process of weldments in real time, and built a double-weight neural network (DWNN) model through filtering and noise reduction processing and feature extraction for the acoustic signal. The model had excellent nonlinear fitting ability of high-dimensional data and could realize nonlinear mapping between multi-parameters of underwater welding and multi-features of acoustic signals, and it could still realize high-precision pattern recognition in the case of small samples. The underwater welding quality detection experiments were carried out with high strength and low carbon alloy steel—HSLA-115 steel as welding object. The results showed that the recognition accuracy of DWNN model applied to underwater welding quality detection could reach 100%. The research results can provide reference for the optimization of underwater welding process and the construction of underwater weldparts expert knowledge base.

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.

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.

In response to the problem of low efficiency in replacing the wire rope of electric shovel, a manipulator frame used to replace wire rope was designed. The dynamic model of the manipulator frame was established taking the gravity of the wire rope extracted by the end effector of the manipulator frame as the main acting load. Using finite element analysis method, multi-body dynamic analysis method and the "spring-rotor" model, the rigid flexible coupling dynamic analysis was conducted on the arm and main hinge joints. The influence of different joint stiffness on the dynamic characteristics of the end effector was studied, and the optimal stiffness of each joint was selected based on the simulation results to further analyze the influence on joint angular displacement and end effector displacement with/without wire rope action. The results showed that as the stiffness coefficient of the joint increased, the deviation between the joint angular displacement and that in the state of full rigid body without wire rope action gradually decreased, and the end effector displacement gradually approached that in the state of full rigid body without wire rope action; the stiffness of the hinge joint between the telescopic forearm and the curved arm had the greatest influence on the end effector displacement; after selecting the optimal stiffness coefficient for each joint, the angular displacement deviation of the hinge joint between the telescopic mechanism and the turntable was the smallest with wire rope action. The vibration amplitude of the manipulator frame without wire rope action was higher than that with wire rope action. The research results provide a reference for the study of the stability and motion accuracy control of the manipulator frame.

In order to improve the cooling capacity of the divertor in fusion reactor and meet the requirements of its high temperature service performance, based on the integrated additive manufacturing technology, the topology optimization design and model reconstruction for the W/Cu module in divertor were carried out by using variable density method with the design goal of maximizing heat transfer. Meanwhile, the finite element numerical simulation and the calculation of temperature field and stress field for the W/Cu module after topology optimization were carried out by using large commercial simulation software. The results showed that under the condition of 10 MW/m² steady-state heat flux density, the maximum temperature of the W/Cu module after topology optimization was reduced by nearly 108.5 ℃, to only 512.3 ℃; the maximum interface stress of the W/Cu module was reduced by nearly 264.2 MPa, to only 486.5 MPa, which indicated that the stress distribution was significantly improved; the total deformation and elastic strain of the W/Cu module were greatly reduced. The application of the topology optimization structure can greatly improve the feasibility of integrated additive manufacturing of divertors with low cost, high efficiency and high reliability.

Aiming at the problem that the vibration system with two asynchronous motors installed on two different mass bodies cannot run synchronously or the synchronous phase difference does not meet the design requirements under the condition of some parameters, the vector control for asynchronous motors is proposed by using master-slave control structure and sliding mode control algorithm, so that the vibration system can implement 0 or π phase difference synchronous operation. Firstly, the motion differential equations of the vibration system were established according to the Lagrange equation, and the natural frequency expressions were derived. Then, the controllers for asynchronous motors in the vibration system were designed and their stability was proved respectively. Finally, the electromechanical-control simulation model of the vibration system was established in MATLAB/Simulink environment, and the self-synchronization and control synchronization simulation were carried out and compared. The results showed that the designed controllers could make the vibration system implement 0 or π phase difference synchronous operation. The research results can provide reference for the development of double-mass vibration system driven by two asynchronous motors.

In order to further meet the needs of lunar exploration, deep space exploration and other astronomical observation tasks, the Kunming 40 m aperture fully movable radio telescope, which was equipped with only one S/X dual-frequency feed source at the initial stage of design, was upgraded and its feed switching system was developed. On the basis of not changing the existing antenna structure and optical path, the original S/X dual-frequency feed source was removed, a new S/X dual-frequency feed source was installed, and the C and Ku frequency feed sources were added. The detailed design and implementation schemes of the feed switching system were given, and the automatic, fast and reliable switching among the three feed sources was realized. The performance of the antenna after feed modification was tested, and the results showed that the main performance indexes of the antenna were improved. After the modification of the feed source and feed switching system, the large aperture fully movable radio telescope had the ability to receive multiple frequency bands, and can complete the astronomical observation and deep space exploration tasks with more frequency bands, improving the observation efficiency and scientific research output of the telescope.

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.

In order to solve the problems such as low efficiency, low degree of automation and easy damage in traditional ring die hole dredging, an intelligent fixed hole dredging device for ring die was developed. The fixed hole dredging manipulator, the hardware and software of the lower computer and the software of the upper computer were designed and developed. Utilizing the ferromagnetism of the high magnetic conductor and the principle of magnetic leakage detection, the die hole positioning dredging module was combined with the Hall effect detection algorithm to realize the automatic detection and dredge for clogged die holes, and the accuracy of the hole positioning was improved. The experiment showed that the dredging efficiency could reach 1 260 holes per hour, the scratch rate of the die hole was less than 0.15%, the device ran stably, and the automatic dredging for the clogged ring die was realized. The research results have a certain reference value for the development of metal die hole detection and dredging technology.

The screw motor is the power assembly of the screw drilling tool, and its cross-sectional shape directly affects its working performance. Good working performance is the design goal of screw motors. In order to obtain a screw motor with good working performance, the evaluation criteria of efficiency, sealing cavity reliability and stability were proposed according to the working principle and structural characteristics of the screw motor. Then, a three-dimensional finite element model of fluid-structure coupling of the screw motor was established, and the contact force change of the sealing cavity contact strip of the short-amplitude endocycloid screw motor under different load conditions was analyzed based on the explicit nonlinear transient dynamics method. Finally, based on the evaluation criteria for the efficiency of screw motors, a new screw motor with quasi circular-arc contour-pattern was designed to address the key factors affecting the efficiency of short-amplitude endocycloid screw motors, and the good working performance of this screw motor was proved by numerical simulation and experiment. The results showed that under the same load conditions, the sealing cavity of the screw motor with quasi circular-arc contour-pattern was more stable and reliable than that of the short-amplitude endocycloid screw motor, and it had better working performance under higher load conditions. The research results lay a foundation for the contour-pattern design of high-performance screw motors in the future.

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.