To investigate the effect of the gear transmission system on the dynamic responses of the metro vehicle driving system, a vertical–longitudinal dynamics, model which considers the frame-hung traction motor and gearbox, is established and is validated to be reliable by comparing the simulation results and field test results in both time domain and time–frequency domain in this paper. Compared to wheelset, the gear mesh force has a greater effect on the force state of traction motor and gearbox.

Under the condition of high temperature, high pressure and severe friction, the micro-texture hole or groove will be filled with chips quickly and lose its function. The texture with a larger aperture is made on the tool rake face, which is connected with the internal cooling hole so as to achieve the functions of cooling, lubricating, reducing friction, changing chip state, reducing cutting force, prolonging tool life and reducing production cost during rough machining.

China is one of the first countries that produced textiles in the world. It has designed and developed a variety of equipment to facilitate textile work. However, due to unclear descriptions in the records and illustrations, a variety of designs with different structures may have been produced. This paper briefly analyzes the structures of textile mechanisms and explores the degree of freedom of the mechanisms to find feasible designs in line with functional requirements.

To improve the stiffness performance of the parallel mechanism, this paper proposes a novel 3-DOF redundantly actuated 2RPU-2SPR parallel mechanism. What is more, the stiffness model of the parallel mechanism is deduced and the accuracy of the stiffness model is verified through finite-element analysis. Finally, the simulation experiment results demonstrate that the redundantly actuated parallel mechanism has better stiffness performance compared to a traditional 2RPU-SPR parallel mechanism.

The speed of autonomous vehicles will have a significant influence on the safety and comfort of driving. When the autonomous vehicle passes through the consecutive speed control humps, how to automatically select the most appropriate speed has become a practical research subject. The paper chooses the genetic algorithm to build a multi-objective optimization model and then designs and carries out the solution process of the multi-objective optimization problem for the vehicle.

This paper proposes a novel origami-based deployable mechanism, which can be deployed from the cuboid folded configuration to the cylindrical configuration. In comparison with the reported deployable mechanism composed of links, the hinge arrangement of the proposed mechanism makes it easier to achieve a higher stiffness. It is applied to the design of a parabolic cylindrical deployable antenna, and a scaled prototype of the antenna is constructed to verify the feasibility of the design.

This paper proposes a novel EMG-based motion compensation controller in active training control to improve patients’ active participation. After proposing an upper limb rehabilitation robot and doing the path plan, the EMG compensation experiments and the active training control experiment are done to prove that the method can control the robot in providing auxiliary force according to patients’ motion intents. The robot can guide the patients in implementing reference tasks in active training.

A novel hollow-ring permanent magnet brake integrated in robot joints is proposed, which allows the brake to require much less axial space and provides more than 1.5 times braking torque for the same volume as the conventional electromagnetic-spring friction brake. A coupled dynamics model of the proposed brake is developed from machine-electric-magnetic aspects. The 3D model of the brake is simulated through finite-element software. The theoretical models are verified through experiments.

To lower the frequency of suspending and calibrating a robot manipulator, an innovative device for enlarging the allowed position error is proposed in this study. It is a purely mechanical device without any electrical sensors. A trigger mechanism with a spring is used to replace a touch sensor and an actuator, and a six-bar linkage delivers the bolt to the hole that the trigger mechanism detected for it to be screwed in. The functions of the new device are verified through prototype testing.

A terminal sliding mode controller is used to design the controller, and a radial basis function neural network method is used for adaptive approximation of system parameters. In order to eliminate chattering, a fuzzy algorithm is designed for fuzzy control of control gain. The simulation verified that the controller designed in this paper can effectively carry out trajectory tracking and the lateral control of electric vehicles and eliminate chattering to a certain extent.

In order to improve the structural performance of the out-of-pipe pipe-climbing robot, the out-of-pipe pipe-climbing robot is optimized. The structure and size of the robot was optimized. Static and modal analyses were then performed on key robot components and ANSYS was used for topology optimization. It was found the weight of the optimized frame and clamping arm were respectively reduced by 24 % and 20 %, and the maximum stress was respectively reduced by 46 % and 20 %.

The road adhesion coefficient is of profound significance for the vehicle active safety control system and is one of the core technologies of future autonomous driving. Based on the unscented Kalman filter (UKF) and particle filter (PF) algorithms, a road adhesion coefficient estimator is designed and simulations are carried out. To verify the feasibility and robustness of the algorithms on a real road, a hub-based motor vehicle test platform is built to complete real vehicle experiments.

Similar to a space flying net, the capture field of the space netted pocket system is large and it can be applied to capture space non-cooperative targets flexibly. In this paper, a space netted pocket system is designed and modeled. The dynamic model and control method is verified through the simulation of the virtual prototype. Results show that the service spacecraft can maintain the attitude stability during the target capture process and can track the desired angle during attitude maneuver.

Aiming at the problems of speed ripple, slow response, sensor dependence, and mechanical chattering in the motion of the permanent magnet linear synchronous motor (PMSLM), a model-free speed control system based on the model reference adaptive system (MRAS) is proposed in this paper. The control system designed in this paper has reference value for the system control structure of the PMSLM.

In this study, we want to design a 4R linkage so that a point on its coupler can pass through the four specified positions. However, for most synthesis problems, the number of feasible solutions in the solution domain is seriously insufficient. Therefore, a solutions map method was proposed to realize the visualization of the solution domain and a telomere genetic algorithm (TGA) was proposed to optimize solutions map, so as to improve the number and proportion of feasible solutions.

Barbed-spring padlocks are the typical locks used in ancient China, and can be divided into three main types, namely open-keyhole, hidden-keyhole, and blocked-keyhole padlocks. With the combinations and changes of springs, keys, and keyholes, the padlocks have a variety of different unlocking methods which provide higher security. Six examples are provided to demonstrate the opening processes of blocked-keyhole padlocks.

In this paper, chatter recognition is carried out for milling based on dynamic characteristics and wavelet packets. The relationship between the dynamic characteristics of the machine tool spindle system and chatter recognition is established by constructing a recombined signal containing chatter signal information.

This paper proposes a spring efficiency assessment and the efficient use of springs methods for a static spring-balanced manipulator. Gravity is balanced by springs; however, it also contains counter-effects between springs. Conceptually, with fewer counter-effects between springs, there is less burden on the spring system, which means that the springs are used more efficiently. Through adjustment of the springs' attachment and parameters, a method to use springs efficiently is developed.

In the research and development process of underwater motion control of the beaver-like robot, the hind leg and tail are the main actuators. In order to estimate the driving force of the robot autonomously during underwater movement, we propose this model, which can quickly and easily infer the force of the hind leg on the body. The correctness of this model is verified by experiments and simulations.

In this paper, the nonlinear characteristics of the kinematics model of the macro–micro composite actuator are analyzed, the driving force model and kinematics model of the macro-motion part is established, and the model parameters are identified by using the data measured on the experimental platform. The research results lay a theoretical and technical foundation for the development of a high-speed and large-stroke positioning controller of the macro–micro composite actuator.

The coaxiality–geometric hysteresis model of the RV reducer transmission system is established, and the model is simulated and analyzed with Adams software. The results show that coaxiality is one of the main error factors affecting hysteresis. This research can provide a theoretical basis and reference materials for the measurement and design of RV reducer hysteresis, as well as the design of the RV reducer performance high-precision detection device and its adjustment mechanism.

This paper studies the rock breaking efficiency and wear resistance under different rock samples by researching the particle size and concentration of diamond cutting elements, and obtains the influence law of particle size and concentration on rock breaking efficiency and wear resistance under different rock samples. The research results have guiding significance for the design of impregnated diamond in high abrasive and difficult formations.

Chamber clocks are weight-driven wall clocks and the first type of domestic clocks to be widely used in the home. In this study, we used the method of mechanical evolution and variation, analyzed and compared clock movements based on historical data and existing clocks, and synthesized all possible movement configurations of early-day chamber clocks.

The paper provides a numerical study of a semi-active control strategy for structural vibrations caused by earthquake or wind excitations. A sliding-mode non-linear controller was designed and reinforced by an adaptive switching gain to overcome the chattering problem and perform the stability proven by the Lyapunov stability criterion. The compared and discussed numerical simulation results have shown the performance of the proposed semi-active control.

Firstly, the tooth surface modification method based on the parabolic forming blade and cutter inclination was proposed. Next, the modified tooth surface equation was deduced and the 3D reconstruction of the modified tooth surface is realized. Then, the influence of modification parameters on tooth surface curvature characteristics was analysed. Finally, the tooth contact analysis model was established to discuss the influence of modification parameters on the elliptical contact area.

First, we compare the advantages and disadvantages of existing navigation devices in agriculture and select the magnetic navigation with low cost and high reliability. We then establish the motion model of the table. The fuzzy proportion integration differentiation (PID) control strategy is determined through the model's analysis, and the fuzzy PID controller is designed and simulated in MATLAB. Finally, the test is verified under two different conditions of straight road and curved road.

This study mainly analyzed the mechanism and technology of nine existing vertically arranged mechanical turret clocks manufactured in Europe from the 15th to the 17th century, in order to determine the design rules based on mechanical evolution and variation. This study provided new historical materials that could be applied in the research of science and technology history, as well as in innovative and science education.

Robot-assisted rehabilitation has proven to be effective for improving the motor performance of patients with neuromuscular injuries. Therefore, the main purpose of this paper is to present a new patient-cooperative control framework for an end-effector upper-limb rehabilitation robot that provides robot-assisted training for individuals with neuromuscular disorders. The feasibility of the proposed control scheme is validated via training experiments using five healthy subjects.

In order to store grain in large warehouses, a process is required that will prevent the effects of mildew and heat. Real-time monitoring of the grain status is needed. Using the information obtained from the monitoring system, corresponding measures were taken for the heating and mildew points in the grain pile. We proposed a drill which is a granary grain condition detector. It can be equipped with temperature, CO₂, and humidity sensors and gather information by entering the grain pile.

Aiming at the potential safety problems caused by the looseness of bucket teeth of the electric shovel, we propose an improved YOLOX algorithm. After introducing the dilated CBAM, the deep separable convolution, and model compression, the mAP is decreased by 0.33 %, the detection speed is increased by 11.9 fps, and the model volume is reduced to 29.46 % of the YOLOX model. It provides a theoretical basis and technical support for the development of intelligent mines and mining intelligence.

A super element of the telescopic boom for an all-terrain crane is proposed, and its geometric nonlinear calculation is realized by the co-rotational (CR) formulation. Considering the cable force, the nonlinear equilibrium equations of the system are established, which are transformed into differential equations, and the load displacement curves of the nodes are obtained. Through the slope ratio of the load displacement curve, the judgment criterion of the instability load is established.