摘要：A redundantly actuated parallel manipulator(RAPM)with mixed translational and rotational degrees of freedom(DOFs)is challenged for its dimensionally homogeneous Jacobian modeling and optimal design of *** this paper,a means to achieve redundant actuation by adding kinematic constraints is introduced,which reduces the DOFs of the end-effector(EE).A generic dimensionally homogeneous Jacobian is developed for this type of RAPMs,which maps the generalized velocities of three points on the EE to the joint velocities.A new optimization algorithm derived from this dimension-ally homogeneous Jacobian is proposed for the optimal design of this type of *** an example,this paper presents a spatial RAPM involving linkages and cam *** RAPM has 4 DOFs and 6 translational *** linkage lengths and the position of the universal joints of the RAPM are optimized based on the dimensionally homogeneous Jacobian.

摘要：Remote control process system with distributed time-delay has attracted much attention in different *** this paper,non-linear remote control of a single tank process system with wireless network is *** deal with the distributed time-delay in a large-scale plant,the time-delay compensation controller based on DCS devices is designed by using operator theory and particle *** control system(DCS)device is developed to monitor and control from the central monitoring room to each *** particle filter is a probabilistic method to estimate unobservable information from observable ***,remote control system and experimental equipment are ***,control system based on an operator theory is ***,process system with distributed time-delay using particle filter is carried ***,the actual experiment is conducted by using the proposed time-delay compensation *** estimating with the proposed method,the result is close to the case in which the distributed time-delay does not *** effectiveness of the proposed control system is confirmed by experiment results.

摘要：针对引进的湿法磷酸净化装置中气动隔膜泵膜片经常损坏,在库房无备件、生产面临极大困难的情况下,提出了自行开发、研制PTFE冲压成型膜片。在分析了膜片结构及其冲压工艺的基础上,设计了该膜片模具,经使用证实自制的PTFE膜片使用寿命长达3个月,效果良好,达到了湿法磷酸净化装置长期稳定运行的要求,取得了明显的经济效益。

摘要：This paper proposes an operator based fault detection method for an actuator fault of an aluminum plate thermal process with input constraints. Operator-based robust right coprime factorization(RCF)approach is utilized in this method. After developing a mathematical model of the thermal process,a robust tracking operator system is designed for the process with input constraints. Following this, design of the fault detection system is given by using operator-based robust RCF approach. Finally, experiment is conducted to support the proposed design method

摘要：针对TTB300-1500车-车拉数控机床拖板的结构特点,运用有限元优化设计方法,建立了机床拖板的有限元计算模型,进行了模态分析,给出了机床拖板的前4阶固有频率和相应振型,并对机床拖板的几何参数进行动态特性的灵敏度分析。在此基础上,确定了机床拖板主要设计参数的变化对低阶固有频率的影响规律,指出了机床拖板的薄弱环节。通过修改设计参数对机床拖板进行结构优化,提高了机床拖板的动态性能,为机床支承部件的优化设计提供了可借鉴的方法。

摘要：手部康复装置是用于手部功能恢复治疗的装置,刚性装置柔性不足、贴合性差,容易造成二次伤害;软体装置驱动力小,且复杂软体装置不易制作。为克服刚性装置与软体装置的缺点,提出了一种结合软体关节与刚性指节的可穿戴手部康复装置。分析人手的生物结构,设计软体关节结构并分析其弯曲特性,基于刚软结合设计气动手指执行器,并进行有限元应力与变形分析;完成软体硅胶关节模具和手部康复装置的制作;搭建气动手指执行器测试实验平台,测试刚软结合手指执行器的弯曲特性和指尖力,并进行手部康复装置对不同形状物体的抓取实验。结果表明所设计的刚软结合可穿戴手部康复装置可实现手部抓握等运动功能的康复训练。

摘要：对真空机器人用磁感应式磁力传动器进行了建模，对其磁路和机械本体部分进行了设计。根据结构尺寸要求和已有各参数间的影响关系，确定磁路的关键参数。利用集总参数法建立转矩计算模型，将得到的关键参数代入其中进行计算。搭建动态性能测试平台，对其动态转矩特性进行测试，将结果与理论设计值比较，得到本磁力传动器的动态性能特点：低频涡流损失小，低速传递转矩效率高，适合真空机器人工作条件。

摘要：为解决现阶段软体机器人与人手贴合较差、自由度不够、驱动力小等问题,设计了一种带有双向弯曲模块和伸长模块、可实现多个自由度独立或耦合运动的软体机器人。利用有限元仿真分析方法建立了软体驱动器模型,融合多种柔性材料,保证驱动器可以提供足够大的驱动力。利用传感器实现了对弯曲特性的跟踪。实验验证表明:该软体机器人可以完成抓握训练、手势训练等,满足患者不同康复阶段的训练要求,指尖力可达到5.1 N,可对患者日常的手部康复训练运动起到辅助作用。

摘要：针对患者髋关节运动康复治疗过程中,辅助力不能随人体下肢参数实时调整的问题,提出了基于摩擦力补偿和模糊阻抗控制的人机交互控制方法.基于髋关节生物学基础进行仿生机构设计,并且为避免人体下肢阻抗参数对柔性髋关节输出的影响,进行人机系统动力学建模.基于扩展卡尔曼滤波进行电机内部摩擦力补偿,减小摩擦力对电机输出位置的影响.用辨识算法估计人体下肢阻抗参数,并基于模糊阻抗控制构建闭环人机交互控制器,实时调整接触力,实现步态轨迹训练.实验验证了康复外骨骼柔性髋关节设计的合理性和人机交互控制器方法的有效性.

摘要：镁合金作为轻量化材料,应用到汽车零部件中可以实现较大幅度的减重效果。而镁合金挤压型材在汽车零部件设计中的应用较少。将镁合金挤压管材作为后排座椅骨架的基本型材,通过多次弯曲得到座椅骨架,并基于Dynaform软件,对挤压管材的各段弯曲部位进行仿真,得到具有工艺可行性的弯曲半径设计。对新设计的镁合金座椅进行动态行李保持仿真,结果表明新设计的镁合金座椅能承受行李对其的动态冲击。