The structure of high-parameter large-scale amusement rides is varied, the movement forms are complex, and the failure modes are numerous. Their service health management and control involves risk assessment, detection and monitoring, fault diagnosis, life assessment, health assessment, use management and many other aspects. The safe operation of the rides can be fundamentally guarantee only by establishing a comprehensive and systematic health management and control technology system. Taking the high-parameter large-scale amusement rides as the research object and equipment failures, faults and accidents as the problem orientation, a systematic and scientific health management and control technology system was designed. The technical problems to be solved and the research direction of service health were analyzed from four aspects: health management and control index system, detection and monitoring key technology, health assessment key technology, health recovery and maintenance.The research results provide ideas and guidance for the whole industry to carry out relevant technical research.

Load is a factor that cannot be disregarded during the running of rolling bearing, and loads with distinct characteristics will exert varying impacts on the reliability of bearing. In response to the stochastic time-varying nature of equivalent dynamic loads borne by rolling bearings, a reliability life evaluation method of rolling bearing considering dynamic time-varying loads was proposed to solve the problem of low evaluation accuracy caused by ignoring the time-varying bearing load in traditional methods. Based on the grey prediction model, the analysis model of the stochastic time-varying process of the bearing equivalent dynamic load was constructed, and the small sample load data was forecasted and supplemented. On this basis, an reliability life evaluation method of rolling bearing based on dynamic stress-strength interference model was proposed, and the working interval of dynamic load was obtained, so as to obtain the bearing reliability life interval. The reliability life test of cylindrical roller bearing NU206E was carried out to verify the proposed method. The results showed that, compared with the traditional method, the bearing life evaluation value obtained by the proposed method was close to the test values with higher accuracy and shorter evaluation time, and the life interval covering the most test values could be obtained. The method combining gray prediction model and dynamic stress-strength interference model has good engineering application value, and provides a new idea for reliability evaluation of rolling bearing under variable load conditions.

In order to improve the stability and safety of the high-speed rain erosion resistance test device, the transverse vibration characteristics of rain erosion blades were analyzed with the rotor-rain erosion blade system as the research object. Firstly, a four-degree-of-freedom transverse vibration model of rotor-rain erosion blade system was established considering the effects of rain erosion blade vibration, mass eccentricity of rotary-blade connecting disc and unbalanced magnetic pull force of rotor. Then, the motion differential equation of rotor-rain erosion blade system was established based on Lagrange equation, and the Runge-Kutta algorithm was used to solve the equation numerically, in order to observe the distribution law of axis trajectory and vibration amplitude of rotor and rain erosion blade. Considering the nonlinear strong coupling relationship between rotor and rain erosion blade, an active disturbance rejection decoupling control method was adopted to suppress the transverse vibration of rain erosion blade, and the parameters of the extended state observer were adjusted by pole assignment and bandwidth. Finally, an experimental platform was set up to analyze the vibration characteristics of the rain erosion blade before and after adopting active disturbance rejection decoupling control, and the results were compared with the numerical analysis results. The results showed that the vibration of rotor-rain erosion blade system exceeded the standard before the active disturbance rejection decoupling control was adopted, but the transverse vibration of rain erosion blade could be effectively suppressed after the active disturbance rejection decoupling control was adopted, which verified the feasibility and effectiveness of the control method. The research results can provide theoretical reference for the structural optimization of high-speed rain erosion resistance test device.

Mobile robots can replace people into dangerous environments such as fire and earthquake sites for terrain exploration and casualty search, but most robots are difficult to adapt to obstacles, right-angle walls, wall transitions and other complex terrain at the same time, and their control systems are relatively complex, requiring external energy input. Therefore, a deformable mobile robot with multiple functions, relatively simple control and no tethering was designed. Firstly, taking the 2-bar 4-cable tensioning integral structure as the basic unit, the body of the tensioning integral structure which could realize bending deformation was designed. Secondly, based on the analysis of adsorption force and structural parameters, the negative pressure adsorption device was designed and combined with the deformable body to form the overall structure of the robot. Then, the kinematic analysis of the robot was carried out, and the mapping relationship between the robot pose and the motor angle was obtained. Based on this, the robot's gaits of wall surface transition, traversing the narrow space from the wall surface and flipping up steps were planned. Finally, the robot prototype was developed, and the robot movement experiments were carried out according to different terrain, and the rationality of the robot gait planning was verified. The research results provide a certain reference value for the design and manufacture of multi-functional mobile robots.

The water-cooled wall of boiler in thermal power plants needs to be inspected and cleaned regularly. Using water-cooled wall robot can improve the efficiency of inspection and cleaning. In view of the complex working environment of water-cooled wall, a new type of water-cooled wall robot was developed. The robot structure and working principle were introduced. In order to ensure the robot to move flexibly and have reliable suction on the water wall, an electric permanent magnet wheel was designed. Through Maxwell simulation and experiment, the current excitation required to magnetize/demagnetize the electric permanent magnet wheel and wheel suction were obtained, and the electric permanent magnet wheel magnetize/demagnetization circuit was designed. The control system of the robot body was introduced, and the experimental platform for lateral walking of the robot was built to verify the cooperation and stability of the robot motion. The experimental results showed that the inner and outer legs of the robot could adsorb and move forward alternately, and realize the gait of lifting, stepping and dropping legs, and the movement was stable. The magnetic force was produced when the robot droped its legs and disappeared when it lifted its legs. The robot had both adsorption stability and movement flexibility. The electric permanent magnet wheel had simple structure, small size, small mass, less power consumption, and could provide about 150 N suction. The research results provide a reference for the application of wall-climbing robot in the cleaning and detection of water-cooled walls.

The construction of supporting wheel-track-ground multi-body coupling system is an important link for the travelling smoothness study of tracked robots. Taking the unilateral five- supporting wheel tracked robot as the study object, the theoretical estimation model for tracked robot vibration was established on the basis of the nonlinear suspension system model and the road excitation considering the track filtering effect. Then, based on the simulation experiments of the tracked robot under working conditons with different road levels and different driving speeds, the effects of driving speed and road excitation on the vertical vibration of the robot body and its supporting wheels were quantitatively analyzed by the root mean square value. Finally, the theoretical vibration estimation model and dynamics simulation model of the seven-degree-of-freedom semi-vehicle were verified by external road experiments. The results showed that the vertical vibration of the tracked robot body increased linearly with the increase of driving speed and road roughness, and the track had a filtering effect on the road excitation. The vertical vibration acceleration of the tracked robot body centroid and the supporting wheel 1, 3, 5 were most sensitive to the road excitation, and the power spectral density amplitude of the vertical vibration acceleration of the robot body was the largest when the frequency was about 19 Hz. As the supporting wheel 5 was close to the driving section, the polygonal effect generated by the track engaging with the active wheel made its vertical vibration larger than that of the other supporting wheels. The combination of theoretical modeling, simulation analysis and external experiment provides a new idea for the study of vibration response characteristics of tracked robots under different road conditions.

Conventional robotic hands usually require drives to continuously provide torque or force to maintain grasping state. If the drive fails, the robotic hand cannot grasp the object stably. To solve these problems, a passively-triggered bistable robotic hand based on origami is proposed. The robotic hand was composed of a grasping mechanism with single-degree-of-freedom and a driving mechanism with bistable characteristics. Based on the kinematics models of the grasping mechanism and driving mechanism, the structure of robotic hand was designed according to the requirements of grasping state, and the energy barrier could be adjusted flexibly by setting the stiffness parameters of the torsion spring. Finally, the drop capture experiments were carried out to verify the grasping performance of the designed robotic hand. The results showed that when the drop height was 400 mm, the grasping motion of the robotic hand was not triggered; When the drop height was 440 mm, the robotic hand successfully grasped the object; When the drop height was 480 mm, the robotic hand failed to grasp the object although the grasping motion was triggered. The experimental results not only validate the ability of robotic hand to grasp objects of a certain size stably without driving, but also reveal the existence of energy barriers under different external shocks. The passive-triggered bistable robotic hand based on origami has potential applications in passive and adaptive robots.

In order to realize the multi-modal motion of continuum robotic arm and solve the problem that the existing robotic arm can only achieve single bending or rotation, a single-module multi-degree-of-freedom flexible continuum robotic arm based on rolling contact is designed. The rolling contact module was used as the skeleton structure of the bending module in the continuum robotic arm, and the rotating module was installed in the bending module to form a multi-degree-of-freedom robotic arm with independent bending and rotation motions. The kinematics model of the continuum robotic arm was established by the segmented constant curvature method, and its stiffness, bending and rotation properties were analyzed. A continuum robotic arm prototype was prepared, and experiments were carried out on the robotic arm to unscrew bottle caps, switch on the fan, and grasp the object by avoiding obstacles in the three-dimensional space. The experimental results showed that different tasks in complex spatial environment could be accomplished by the combined motion of bending and rotation, which reflected the advantages of the composite motion mode. The designed continuum robotic arm has multi-modal motion, which provides a new idea for the design of multi-degree-of-freedom continuum robotic arms and expands the application scenarios of continuum robotic arms.

Aiming at the problems of large changes in longitudinal pitch amplitude and longitudinal pitch angle caused by the flow field when the remotely operated vehicle (ROV) sails at high speed, a method for achieving high speed underdriven ROV operated with zero longitudinal pitch or slight longitudinal pitch by matching and selecting structural parameters of the extended chassis and the tailplane was proposed. Based on the lattice Boltzmann method (LBM), a six-degree-of-freedom simulation experiment was carried out by using the wall adaptive refinement algorithm combined with the structural parameters of the ROV to simulate the ROV sailing motion. The numerical analysis for the ROV with different height of extended chassis and tailplane was analyzed numerically to obtain the relationship between the structural parameters of extended chassis and tailplane and the longitudinal pitch amplitude and longitudinal pitch angle. By comparing the rotating torque of ROVs with similar sailing performance, the relationship between ROV stability and tailplane height was determined under the same extended chassis conditions. The orthogonal experiments for structure optimization of the extended chassis and tailplane were conducted, and the longitudinal pitch data of the ROV under different experimental schemes were fitted by using genetic algorithm. Combined with the actual requirements, the height of the extended chassis and tailplane was determined, and the correctness of the ROV longitudinal pitch design scheme was verified by the actual test. The results showed that the reasonable match of the extended chassis and tailplane structure could effectively reduced the longitudinal pitch amplitude of underdriven ROVs, so as to achieve slight longitudinal pitch sailing motion of ROVs without amplitude compensation. The research results can provide reference for improving the longitudinal pitch motion of relevant underwater devices.

Aiming at the shortcomings of traditional sliding mode control in trajectory tracking of boom-type roadheader, such as slow global convergence and significant chattering, an improved sliding mode control method based on novel reaching law is proposed. By introducing lateral deviation and heading angle deviation of the roadheader body and adding power reaching term to the traditional exponential reaching law, the rapid convergence of trajectory deviation and chattering reduction for the roadheader were achieved. At the same time, the boundary layer method was employed to further suppress chattering, which addressed the problem of chattering easily caused by the product term of sign functions in the reaching law. The existence, reachability and stability of the novel reaching law were analyzed, and the interval of disturbance steady-state error was derived. Considering the uncertain disturbance of the roadheader, the simulation comparison was conducted between traditional sliding mode control method and improved sliding mode control method. The results indicated that the control accuracy, convergence speed and anti-interference ability of the improved sliding mode control were superior to the traditional sliding mode control. Finally, an experimental platform was set up to test the performance of the roadheader trajectory tracking control system, which verified the feasibility and effectiveness of the improved sliding mode control method. The research results can provide important reference for the intelligent control of mining equipment in the harsh environment of underground coal mine.

In order to solve the problem of oscillation and overshoot of double-rotor structure of magnetic gear compound motor in contactless transmission, a self-tuning vector control method for double-closed loop PI (proportional integral) parameters based on improved dragonfly algorithm (IDA) was proposed. Aiming at the shortcomings of DA in convergence speed and convergence accuracy, Tent mapping, improved weight coefficient and differential optimization algorithm were introduced in the early, middle and late stages of algorithm optimization respectively, and penalty terms that could suppress oscillation and overshoot were added to its fitness function, so that the convergence speed and convergence accuracy of the algorithm were significantly improved. Three control methods of PI, DA-PI and IDA-PI were used for the control simulation and experiment of magnetic gear compound motor. The results showed that the overshoot and steady state error of motor speed under IDA-PI control were the smallest, and the dynamic response speed was the fastest, which proved the effectiveness of the proposed strategy. The research results provide a reference for the control of magnetic gear compound motors with different topologies.

Aiming at the problems of the traditional triple eccentric butterfly valve to withstand a certain differential pressure or reverse pressure of full differential pressure, an all-metal hard sealing bidirectional zero-leakage triple eccentric butterfly valve is studied and designed. The valve is long-life and energy-saving, and it adopts the triple eccentric principle to solve the defect that the sealing surface of the traditional eccentric butterfly valve is still in sliding contact friction at the moment of opening 10o and closing, which realizes the effect that the sealing surface of the butterfly valve separates at the moment of opening and seals at the moment of closing contact. Firstly, the unbalanced torque and allowable differential pressure of the designed butterfly valve were analyzed theoretically, and the pressure, velocity and flow trace of the fluid in the butterfly valve chamber with different openings were analyzed through fluid flow simulation. The variation curves of the maximum pressure and maximum velocity at the inlet and outlet of butterfly valve with the valve opening were obtained. Then, the thermal temperature and resultant heat flow cloud maps of the butterfly valve were obtained through thermal stress simulation analysis, and the distribution of thermal stress, thermal strain and safety factor of the butterfly valve as well as the variation curve of its maximum thermal stress with fluid temperature were analyzed, which verified that the thermal stress of the butterfly valve met the requirements. Finally, the butterfly valve body pressure test and positive and negative high-pressure sealing test were carried out. The test results showed that there was no visible leakage and deformation of the butterfly valve body, and the measured leakage was zero, indicating that the compressive strength and sealing performance of the butterfly valve met the use requirements. The research results provide a basis for the reduction of contact and friction, the decrease of opening torque and the extension of service life of triple eccentric butterfly valves, and the proposed all-metal hard sealing structure provides a new idea for the research of bidirectional zero-leakage sealing of triple eccentric butterfly valves.

It is of great significance to study the ground effect of aircraft during its operation. Due to the existence of viscous boundary layer, the wind tunnel simulation test by fixed floor simulation technology widely used in China is seriously inconsistent with the real situation. Therefore, a high-speed moving belt simulation device with large scale of 4 m × 3.4 m was developed. Driven by a single motor, the master and slave rolls drived the moving belt to make its upper surface linear velocity consistent with the wind tunnel flow velocity, which eliminated the boundary layer to accurately simulate the ground effect. The segmented machining method of the master and slave rolls with large length-diameter ratio was proposed, and the connection between the outer cylinder and the mandrel was realized by the interference assembly connection, which avoided the thermal deformation caused by conventional welding method, and significantly reduced the unbalance of the moving belt under high-speed operation. The fast servo correction system was designed to keep the offset of the moving belt within 5 mm. Combined with the distributed control system, the stable operation of each system of the moving belt device was realized. In the ground test, the linear speed of the moving belt could be stabilized at about 54 m/s with a speed error of about 0.25%, and the overall vibration of the moving belt was inhibited at about 0.1 mm. The moving belt device developed becomes one of the largest ground effect simulation equipment in China and has broad application prospects in wind tunnel ground effect simulation and testing.

The repair of large-skin wounds has been a difficult problem to be solved urgently. At present, the commonly used repair methods are mainly autologous skin transplantation and wound dressing treatment, but these methods cannot simultaneously meet the needs of large-skin repair and customized repairment. The in situ skin printing technology provides a new idea for the repair of large-skin wounds. However, the existing bioprinting equipment has small printing range and low printing precision, which cannot realize the shape printing of large area of skin tissue. In order to solve the above problems, an in situ skin printing system composed of Stewart parallel robot, linear module mechanism, print head and 3D scanner was proposed. The Stewart parallel robot could achieve high-precision skin in situ printing as printing driving device due to high repeated positioning precision and low cumulative error. The Stewart parallel robot had six degrees of freedom and could adjust the printing angle in 3D space, allowing bioink to fully cover the skin wounds along the skin surface, which was beneficial for wound repair. In order to analyze the feasibility of the designed in situ skin printing system, the workspace of the parallel robot was calculated by numerical method, and the working range of the in situ skin printing system was obtained and verified through printing experiments. The experimental results showed that the parallel robot operated according to the specified path, and the print head could stably inject bioink during the printing process. The working range of the in situ skin printing system was basically consistent with the workspace of the parallel robot, which met the needs of repairing large-skin wounds. The research results lay a theoretical foundation for the subsequent animal experiments on large-skin repair.

In order to improve the efficiency and quality of thermal battery insulation cotton winding process, an automatic insulation cotton winding system based on digital twin technology was developed. Firstly, the digital twin mapping structure model of the automatic winding device of insulation cotton was created by NX MCD software, and the information interaction and state detection between the model and the actual physical device and control device were realized through TIA Portal software, so as to reflect the winding action and state more accurately. Then, the mechanical model of automatic winding process of insulation cotton was established to analyze the winding mechanism. Nextly, the influence of winding tension and stack rotation speed on the winding effect of insulation cotton was studied by finite element dynamics simulation, and the simulation results were imported into the digital twin system to optimize the digital twin structure layer and control layer program. Finally, the automatic winding of insulation cotton was realized successfully through joint debugging and the thermal battery stack with good coating effect was produced. The research method can effectively improve the research efficiency, accelerate the design process and reduce the trial-and-error cost, which can provide a reference for the research of automatic assembly of winding packaging.