摘要：Based on the character of the modular self-reconfigurable （MSR） robot, a novel homogeneous and lattice MSR robot, M-Cubes, was designed. Each module unit of the robot has 12 freedoms and is composed of six rotary joints and one cubic link. An attached/detached mechanism was designed on the rotary joints. A novel space transmitting system was placed on the inner portion of the cubic link. A motor separately transmitted torque to the six joints which were distributed equally on six surfaces of the cubic link. The example of a basic motion for the module was demonstrated. The result shows that the robot is concise and compact in structure, highly efficient in transmission, credible in connecting, and simple in controlling. At the same time, a simulator is developed to graphically design the system configuration, the reconfiguration process and the motion of cluster modules. The character of local action for the cellular automata （CA） is utilized. Each module is simplified as a cell. The transition rules of the CA are developed to combine with the genetic algorithm （GA） and applied to each module to accomplish distributed control. simulation proves that the method is effective and feasible.

摘要：The design work of motional cable in products is vital due to the difficulty in estimating the potential issues in current *** this paper,a physics-based modeling and simulation method for the motional cable harness design is *** model,based on continuum mechanics,is established by analyzing the force of microelement in *** the analysis procedure,three coordinate systems：inertial,Frenet and main-axis coordinate systems are *** variable substitution and dimensionless processing,the equation set is discretized by differential quadrature method and subsequently becomes an overdetermined nonlinear equation set with boundary conditions solved by Levenberg-Marquardt *** the profile of motional cable harness obtained from the integral of arithmetic solution,a motion simulation system based on＂path＂and＂profile＂as well as the experimental equipments is *** the same parameters as input for the simulation and the real cable harness correspondingly,the issue in designing,such as collision,can be easily found by the simulation *** research obtains a better result which has no potential collisions by redesign,and the proposed method can be used as an accurate and efficient way in motional cable harness design work.

摘要：To solve the problem of inaccurate angle adjustment in the self-assembly process, a new homogenous hybrid modular self-reconfigurable robot-Xmobot is designed. Each module has four rotary joints and a self-turning mechanism. With the proposed self-turning mechanism, the angle adjusting accuracy of the module is increased to 2°, and the relative position adjusting efficiency of the module in the self-assembly process is also improved. The measured maximum moving distance of the proposed module in a gait cycle is 11.0 cm. Aiming at the multiple degree of freedom （MDOF） feature of the proposed module, a motion controller based on the central pattern generator （CPG） is proposed. The control of five joints of the module only requires two CPG oscillators. The CPG-based motion controller has three basic output modes, i. e. the oscillation, the rotation, and the fixed modes. The serpentine and the wheeled movements of the H-shaped robot are simulated, respectively. The results show that the average velocities of the two movements are 15. 2 and 20. 1 m/min, respectively. The proposed CPG-based motion controller is evaluated to be effective.

摘要：Elbow draft-tubes are widely used in large- and medium-sized hydropower stations in many countries. During the application, handling the somatotype of elbow tubes has been found challenging： in order to maintain the designed shape of draft tube and to meet the requirement of construction lofting, the configuration of reinforcing bars and the fabrication of templates, the geometry of elbow tubes has to be accurately calculated to draw engineering graphics. Based on the derived equations in this paper, the motion of elbow tube curve envelope is simulated by using computers, which shows directly the smoothness of the curve and provides dynamic simulation for the study and optimization of the design and construction of elbow draft tubes, along with the front view and bottom view.