摘要：A three-dimensional disc model with non-uniform heat generating is built.A series of cooling channels are inserted to cool this disc which is strewn in a hierarchical *** reveal thermal and flow characteristics,a composite objective function comprised of the maximum temperature difference(MTD)and pumping power is *** deployment pattern of cooling channels contains two cases,i.e.,the radial-pattern and *** capitalizing on constructal design method together with finite element method,the diameter of radial-pattern cooling channels is optimized in the first ***,the diameter,angle coefficient and length coefficient of dendritic-pattern cooling channels are three degrees-of-freedom to be stepwise optimized at different heat generating ***,NSGA-II algorithm is introduced into the multiobjective *** obtaining its Pareto optimal solution set,Topsis method is invoked to yield the optimal solutions under given weighted *** heat generation over the entire body and the volume ratio of cooling channels operate as the primary *** on these premises,constructal design will be stepwise performed by varying three *** obtained results state that more heating components or devices should be installed as close to the cooling water inlet as *** can further reduce MTD at the same cost of pumping power,thereby improve thermal and flow performance and prolong the lifespan of *** optimized with two degrees-of-freedom,the MTD is reduced by 18.6%compared with the counterpart obtained from single degree-of-freedom optimization,while the pumping power is increased by 59.8%.As optimized with three degrees-of-freedom,the MTD is decreased by 6.2%compared with the counterpart from two degrees-of-freedom optimization,while the pumping power is increased by 3.0%.It is manifest that when two sub-objectives form a composite objective,the performance improvement of one sub-

摘要：Hydraulic valve block is an important part of the hydraulic *** traditional hydraulic valve block is made by turning and milling,drilling and boring,which leads to many right-angle bending and closed cavity structure of process holes in its internal flow channel,seriously affecting the flow performance of *** on the new design space provided by additive manufacturing technology,the internal hydraulic flow channel of valve block is optimized by using B-spline *** fluid dynamics analysis is carried out on the hydraulic flow channel to determine the optimal flow channel structure with the smallest pressure *** weight reduction of hydraulic valve block is carried out through topology *** to the results of topology optimization,using the method of selective laser melting(SLM),the printing of the hydraulic valve block is *** optimized hydraulic channel reduces the pressure loss by 31.4%compared with the traditional hydraulic *** with the traditional valve block,the hydraulic valve block manufactured by SLM with topology optimization reduces the weight by 33.9%.Therefore,the proposed flow channel optimization and valve block lightweight method provide a new reference for the performance improvement of the internal flow channel of hydraulic valve block and the overall lightweight design of valve block.

摘要：The paper presents the design of walking leg for bionics crab-like robot, which is driven with micro servo motor. The kinematic characteristics of the bionics machine are analysed for optimized structure parameters, which has been used in the robot design. A three closed loop motor control system structure for joint driver is also given, as well as the multi-joint driving system for walking robot leg.

摘要：目的:常规负载口独立控制研究多采用商业阀进行,因其阀芯位移控制器为封闭式结构,所以阀芯位移的动态特性难以调整,进而影响了系统的压力和流量控制性能。本文旨在探讨负载口独立控制系统中阀芯位移特性对系统压力和流量控制的影响,并研究提高系统压力和流量控制性能的方法。创新点:1.设计基于两级模糊比例积分微分(PID)的压力和流量控制器;2.设计基于阀芯位移反馈的流量控制器;3.建立试验模型,成功实现液压系统高动态压力流量复合控制。方法:1.通过理论分析得到影响系统压力和流量的关键因素(公式(9)和(13));2.提出位移控制为内环、压力和流量控制为外环的两级模糊PID控制算法,并开发相应的控制系统(图2～4);3.通过仿真和实验分析,验证本文提出的控制器所具有的阀芯位移、系统压力和流量的控制效果(图13～18)。结论:1.两级模糊PID控制器具有较好的系统压力和流量控制效果;2.基于阀芯位移反馈的流量控制器具有较高的流量控制精度;3.运用本文设计的可编程控制系统进行液压系统的压力流量复合控制,稳定时间小于200 ms,使系统动态特性得到提高。

摘要：Based on the biological prototype characteristics of shark’s gill jet orifice,the flexible driving characteristics of ionic exchange polymer metal composites(IPMC)artificial muscle materials and the use of sleeve flexible connector,the IPMC linear driving unit simulation model is built and the IPMC material-driving dynamic control structure of bionic gill unit is ***,through the stress analysis of bionic gill plate and the motion simulation of bionic gill unit,it is verified that various dynamic control and active control of the jet orifice under the condition of different mainstream field velocities will be taken by using IPMC ***,the large-deflection deformation of bionic gill plate under dynamic pressure and the comparative analysis with that of a rigid gill plate is studied,leading to the achievement of approximate revised modifier from real value to theoretical value of the displacement control of IPMC.

摘要：The development of new products of high quality, low unit cost, and short lead time to market are the key elements required for any enterprise to obtain a competitive advantage. This part of the paper presents a methodology to automatically simulate the conceptual design results in the virtual entity form. To the identified basic mechanisms, their kinematic analysis is carried out by matching basic Barranov trusses, and their virtual entities are modeled based on feature-based technique and encapsulated as one design object. Based on the structures of the basic mechanisms and their connections, a space layout to the mechanical system corresponding to the symbolic scheme is then fulfilled. With the preset-assembly approach, all parts in the mechanical system are put onto proper positions where the constraint equations are met according to the space layout results. In this way, the virtual entity assembly model of the mechanical system relative to the symbolic scheme is set up. The approach presented in this paper can not only obtain innovative conceptual conceptual design results, but also can evaluate their performances under 3-D enviroment efficently.

摘要：The medium -large caliber naval gun is still playing an important role in modern war. The development of highly automatic Shell Raising and Feeding System (SRFS) in the world has been briefly outlined. Several typical SRFS of medium-large caliber naval guns have been analyzed. A re-design of the system is introduced, in which systematic design method has been used to demonstrate its feasibility. The design goal of the system is to realize rapid shell feeding, with application to many types of shells, quick change of shell types , accurate and reliable feeding operation, simple mechanical structure and easy realization of shell withdrawing.

摘要：We introduce a novel strategy of designing a chaotic coverage path planner for the mobile robot based on the Che- byshev map for achieving special missions. The designed chaotic path planner consists of a two-dimensional Chebyshev map which is constructed by two one-dimensional Chebyshev maps. The performance of the time sequences which are generated by the planner is improved by arcsine transformation to enhance the chaotic characteristics and uniform distribution. Then the coverage rate and randomness for achieving the special missions of the robot are enhanced. The chaotic Chebyshev system is mapped into the feasible region of the robot workplace by affine transformation. Then a universal algorithm of coverage path planning is designed for environments with obstacles. Simulation results show that the constructed chaotic path planner can avoid detection of the obstacles and the workplace boundaries, and runs safely in the feasible areas. The designed strategy is able to satisfy the requirements of randomness, coverage, and high efficiency for special missions.

摘要：The development of new products of high quality, low unit cost, and short lead time to market are the key elements required for any enterprise to obtain a competitive advantage. For shorting the lead time to market and improving the creativity and performances of the product, a rule-based conceptual design approach and a methodology to simulate the conceptual design results generated in conceptual design process in automatical virtual entity form are presented in this paper. This part of paper presents a rule-based conceptual design method for generating creative conceptual design schemes of mechanisms based on Yan＇s kinematic chain regeneration creative design method. The design rules are adopted to describe the design requirements of the functional characteristics, the connection relationships and topological characteristics among mechanisms. Through the graphs-based reasoning process, the conceptual design space is expanded extremely, and the potential creative conceptual design results are then dug out. By refining the design rules, the solution exploration problem is avioded, and the tendentious conceptual design schemes are generated. Since mechanical, electrical and hydraulic subsystems can be transformed into general mechansims, the conceptual design method presented in this paper can also be applied in the conceptual design problem of complex mechatronic systems. And then the method to identify conceptual design schemes is given.

摘要：The study of the movement behavior of geckos on a vertical surface, including the measurement and recording of the reaction forces as they move in different directions, plays an important role in understanding the mechanics of the animals' locomotion. This study provides inspiration for the design of a control system for a bionics robot. The three-dimensional reaction forces of vertical surface-climbing geckos (Gekko gecko) were measured using a three-dimensional force-sensors-array. The behavior of gecko as it moved on a vertical surface was recorded with a high speed camera at 215 fps and the function of each foot of a gecko are discussed in this paper. The results showed that the gecko increased its velocity of movement mainly by increasing the stride frequency in the upward, downward and leftward direction and that the speed had no significant relationship to the attachment and detachment times. The feet above the center-of-mass play a key role in supporting the body, driving locomotion and balancing overturning etc. The movement behavior and foot function of geckos change correspondingly for different conditions, which results in safe and effective free vertical locomotion. This research will be helpful in designing gecko-like robots including the selection of gait planning and its control.