Optimal Design of the Modular Joint Drive Train for Enhancing Cobot Load Capacity and Dynamic Performance

Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of industries.Compared to the commonly used design approach of increasing the payload-to-weight ratio of cobot to enhance load capacity,equal attention should be paid to the dynamic response characteristics of cobot during the design process to make the cobot more flexible.In this paper,a new method for designing the drive train parameters of cobot is proposed.Firstly,based on the analysis of factors influencing the load capacity and dynamic response characteristics,design criteria for both aspects are established for cobot with all optimization design criteria normalized within the design domain.Secondly,with the cobot in the horizontal pose,the motor design scheme is discretized and it takes the joint motor diameter and gearbox speed ratio as optimization design variables.Finally,all the discrete values of the optimization objectives are obtained through the enumeration method and the Pareto front is used to select the optimal solution through multi-objective optimization.Base on the cobot design method proposed in this paper,a six-axis cobot is designed and compared with the commercial cobot.The result shows that the load capacity of the designed cobot in this paper reaches 8.4 kg,surpassing the 5 kg load capacity commercial cobot which is used as a benchmark.The minimum resonance frequency of the joints is 42.70 Hz.

Design of a Novel Macro-Micro Integrated Brain Surgery Robot Based on Modular Parallel Mechanisms

The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise surgeries.In turn,this urges the design and development of novel surgical robots to possess higher precision,stability,and enhanced motion capabilities.In response to this practical demand,this paper introduces a macro-micro integrated medical brain surgery robot system based on the concept of modular PMs(parallel mechanisms),which have a total of 13 active DOFs(degrees of freedom).This system divides the motion process of brain surgery into a large-scale macro-motion space and a small-scale high-precision motion space for design and planning control.The introduction of the design concept that combines multiple modular parallel sub-mechanisms has brought a significant level of decoupling characteristics to the mechanism itself.A comprehensive introduction and analysis of the surgical robot are provided,covering aspects such as design,kinematics,motion planning,and performance indicators.To address the pose allocation and coordination of motion between the macro platform and the micro platform,a pose allocation algorithm based on the decoupling and non-decoupling characteristics in various dimensions of the macro-micro platform is proposed.The designed measurement experiments have demonstrated that the repeatability in positioning accuracy of the macro and micro platform reaches the level of micron and submicron respectively.Practical experiments of motion control and simulated brain electrode implantation validate the excellent performance and stability of the entire surgical robot system.This research contributes innovative insights to the development of medical surgical robot systems,particularly in the domain of mechanism design.

Application Strategies of Modular Design in Assembled Teaching Buildings

As an efficient,environmentally friendly,energy-saving construction method,assembled buildings are now widely used in campus building construction.Modular design thinking is system-based design thinking,and its application to the design of an assembled teaching building project will comprehensively improve the rationality of the teaching building and component design.The paper focuses on the application of modular design thinking in assembled teaching building design,aiming to provide references for China’s architectural design units,giving full play to the advantages of modular design thinking in future teaching building design projects,and enhancing the level of design,for the construction of the teaching building and the basis of the technical guarantee.

Design and Development of Small Modular Courses for“Education-Training Integration”in Vocational Colleges:A Case Study

Vocational education plays a vital role in the development of skilled technical professionals and the advancement of the economy.However,the emphasis on campus education often neglects the importance of external training,hindering the overall development of vocational education.This study aims to address this issue by exploring the design and development of small modular courses that integrate training and education in vocational colleges,focusing on the mechanics course as a case study.The research methods employed in this study include an in-depth analysis of enterprise training needs,the development of digital teaching resources utilizing the finite element method(FEM),and the implementation of a small modular course integrating education and training.The data analysis reveals positive outcomes in terms of learners’comprehension and engagement with complex mechanics formulas through the use of stress nephograms and other digital resources.This research provides a new perspective on curriculum design and offers insights into the integration of training and education in vocational colleges.The findings underscore the significance of incorporating innovative teaching methodologies and digital resources in enhancing the quality and relevance of vocational education,ultimately contributing to the cultivation of skilled professionals and the growth of the vocational education sector.

Suggestions on Improving China’s Breakthrough Therapy Designation System

Objective To analyze the characteristics of breakthrough therapy designation(BTD)and its implementation in China,and to provide reference for the optimization of BTD system.Methods A comparative research method was used to study the content and implementation effect of BTD system in China and the relevant policies and implementation of the same procedures of drug regulatory authorities in the United States,Japan and the European Union.Then,the differences in policies and implementation results among these countries were analyzed to provide suggestions for the implementation and optimization of this system in China.Results and Conclusion China’s BTD system is implemented late and a small number of drugs has been approved.At the same time,there are problems such as insufficient guidance and communication from the agency to applicants,a broad application condition,single review mode,and lack of full-time personnel.Both the agencies and the applicants have limited experience due to the short implementation time of BTD system in China.There are still some problems despite we have learned a lot from the experience of other drug regulatory agencies.Therefore,based on our national conditions,we should strengthen the guidance of evaluation agency to applicants,optimize the eligibility criteria of BTD system,introduce the rolling review,and increase the number of professional liaisons,which can accelerate the development and marketing process of drugs with obvious clinical value,and finally to address unmet medical need.

Predictor−corrector inverse design scheme for property−composition prediction of amorphous alloys

In order to develop a generic framework capable of designing novel amorphous alloys with selected target properties,a predictor−corrector inverse design scheme(PCIDS)consisting of a predictor module and a corrector module was presented.A high-precision forward prediction model based on deep neural networks was developed to implement these two parts.Of utmost importance,domain knowledge-guided inverse design networks(DKIDNs)and regular inverse design networks(RIDNs)were also developed.The forward prediction model possesses a coefficient of determination(R^(2))of 0.990 for the shear modulus and 0.986 for the bulk modulus on the testing set.Furthermore,the DKIDNs model exhibits superior performance compared to the RIDNs model.It is finally demonstrated that PCIDS can efficiently predict amorphous alloy compositions with the required target properties.

Design Strategies Applied to Classroom's Daylight Design Optimization of Classrooms Design

This paper explains how the optimized classrooms were selected and the results that were achieved by the optimizations carried out and finalized.The context of the research is the city of Concepción,in Chile.Virtual models of classrooms were evaluated using the Radiance software.We used a methodology that allowed us to determine the luminous conditions under different types of skies,seasons of the year and times of the day.The evaluation of the typologies was performed based on three defined criteria,in order to achieve the stated design objectives.We defined the optimal solutions for each orientation and,finally,we stated design recommendations for daylit classrooms to ensure the visual comfort of the students.These recommendations link all that found in the initial analysis with that found in the optimization stage.

Design strategies and insights of flexible infrared optoelectronic sensors

Infrared optoelectronic sensing is the core of many critical applications such as night vision,health and medication,military,space exploration,etc.Further including mechanical flexibility as a new dimension enables novel features of adaptability and conformability,promising for developing next-generation optoelectronic sensory applications toward reduced size,weight,price,power consumption,and enhanced performance(SWaP^(3)).However,in this emerging research frontier,challenges persist in simultaneously achieving high infrared response and good mechanical deformability in devices and integrated systems.Therefore,we perform a comprehensive review of the design strategies and insights of flexible infrared optoelectronic sensors,including the fundamentals of infrared photodetectors,selection of materials and device architectures,fabrication techniques and design strategies,and the discussion of architectural and functional integration towards applications in wearable optoelectronics and advanced image sensing.Finally,this article offers insights into future directions to practically realize the ultra-high performance and smart sensors enabled by infrared-sensitive materials,covering challenges in materials development and device micro-/nanofabrication.Benchmarks for scaling these techniques across fabrication,performance,and integration are presented,alongside perspectives on potential applications in medication and health,biomimetic vision,and neuromorphic sensory systems,etc.

Seismic isolation design and resilience improvement of railway station considering the influence of near-fault pulse-like ground motions

To improve the resilience of railway stations,a typical station was selected as the research object,and an isolation design was introduced.Twenty-four groups of near-fault pulse-like ground motions were selected.The seismic resilience of the no-isolation railway stations(NIRS)and the isolation railway stations(IRS)were compared to provide a numerical result of the improvement in resilience.The results show that in the station isolation design,the station's functional requirements and structural characteristics should be considered and the appropriate placement of isolation bearings is under the waiting room.Under the action of a rare earthquake,the repair cost,repair time,rate of harm and death of the IRS were decreased by 8.04 million,18.30 days,6.93×10^(-3)and 1.21×10^(-3),respectively,when compared to the NIRS.The IRS received a seismic resilience grade of three-stars and the NIRS only one-star,indicating that rational isolation design improves the seismic resilience of stations.Thus,for the design of stations close to earthquake faults,it is suggested to utilize appropriate isolation techniques to improve their seismic resilience.

Structural Carpentry in Qing Dynasty-A Framework for the Hierarchically Modularized Chinese Timber Structural Design

This article, by using mathematical expressions, offers a scientific framework for understanding how the grading system of Qing′s structural carpentry determines the design and construction in the grand style timber architecture.The Qing′s grand style timber structure, which is ready for prefabrication and assembly, is extremely hierarchical oriented and significantly standardized. The general procedure in designing a grand style timber structure is to start with the grade that defines the basic module (dou kou); next comes with the number of bracket set (cuan), the number of longitudinal bays and the number of purlins which affect its plan and cross section; thirdly choose a roof type that determines its longitudinal section and the facade as well. A series of formulae are conducted to help depict the layout, cross sectional roof curvature and special longitudinal treatments in 4 sloped and 9 spined roofs respectively.

Design of a novel modular self-reconfigurable robot capable of self-turning

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.

基于Altium Designer软件的电子控制技术中电路设计探究

在正常的电路设计方案中,需要软硬件的互相搭配使用,普通的电路运用收稿方式或简单的办公辅助软件来完成绘制,但在面对复杂情况下的电路,专业的EDA辅助设计软件作用可以显而易见,以该辅助软件设计如SCH(电路原理图)与PCB(印制电路板)文件方面的工作。电子控制技术中电路随着时代的进步而不断创新,新型器件的不断迭代更新,其中的电路设计也变得复杂且繁琐,传统的电路设计已无法胜任最新电路的完善和使用。此时运用AD16(Altium Designer)这款辅助设计软件进行电路设计就可以事半功倍,AD都是复杂电路设计中的高效工具。

Design and analysis of modular charge feeding mechanism

Aiming at the turning motion＇s disadvantages,including the instability of charge magazine caused by polygon effect and the disability of synchronously pushing modular charge of the current pushing mechanism,a new type of charge feeding mechanism is designed.It can not only select modular charge rapidly and steadily,but also push a certain amount of modular charge into the tray which is used to receive the charge synchronously.The selection and push principles of feeding mechanism are introduced,and a three-dimensional model is established.ADAMS is applied to simulation analysis of the feeding mechanism.The results show that the feeding mechanism can push the modular charge into the reception tray rapidly and steadily,which provides a theoretical basis for the practical design.

水田动力底盘逆向建模与质心验证——基于Geomagic Design X

针对目前农业机械仿真和优化模型精度不高的问题,提出了一种构建精确模型的逆向建模方法。应用光学扫描仪采集点云数据,基于Geomagic Design X处理点云数据并重构零部件模型,在SolidWorks中完成水田动力底盘的装配。以VP6D-CQ型水田动力底盘为例,将测得的实际质心位置与所建的模型质心位置进行比较,并对提出的逆向建模方法进行了试验验证以及误差分析。结果表明:总质量、x坐标、y坐标、z坐标的误差值分别为4.55%、3.62%、2.23%、4.81%,误差值均在5%内。此方法可构建准确的三维模型,为后续仿真优化数据精确性奠定了基础,与传统的研发相比较,可缩短农业机械研发周期、降低设计成本。

RESEARCH ON THE GENERALIZED MODULAR DESIGN METHOD WITH FLEXIBLE MODULES OF PRODUCT STRUCTURES

A new generalized modular design (GMD) method is proposed based on designpractice of frame structure of hydraulic press machines. By building a series of flexible modules(FMs), design knowledge and structure features are integrated into parametric models. Then,parametric design and variational analysis methods for GMD are presented according to user defineddesign objectives and customized product characteristics. A FM-centered GMD system is developed andsuccessfully used in the rapid design of relevant products.

App Designer辅助教学方法探索与实践——以软件无线电课程为例

软件无线电作为通信学科的必修课程,具有承上启下的重要作用。因课程原理抽象、理论公式复杂,学员在学习过程存在理解掌握难、实践应用难等问题。通过对当前软件无线电教学过程中存在的不足与困难进行分析,提出利用MATLAB App Designer辅助课程教学,从教学准备、课堂互动、自主实验、反馈提升四个方面开展课程教学改革。实践表明,该方法对于提升学员的工程思维、系统思维具有显著效果,同时可以增强学员理论联系实际的能力。

A Task-oriented Modular and Agent-based Collaborative Design Mechanism for Distributed Product Development

The rapid expansion of enterprises makes product collaborative design （PCD） a critical issue under the distributed heterogeneous environment, but as the collaborative task of large-scale network becomes more complicated, neither unified task decomposition and allocation methodology nor Agent-based network management platform can satisfy the increasing demands. In this paper, to meet requirements of PCD for distributed product development, a collaborative design mechanism based on the thought of modularity and the Agent technology is presented. First, the top-down 4-tier process model based on task-oriented modular and Agent is constructed for PCD after analyzing the mapping relationships between requirements and functions in the collaborative design. Second, on basis of sub-task decomposition for PCD based on a mixed method, the mathematic model of task-oriented modular based on multi-objective optimization is established to maximize the module cohesion degree and minimize the module coupling degree, while considering the module executable degree as a restriction. The mathematic model is optimized and simulated by the modified PSO, and the decomposed modules are obtained. Finally, the Agent structure model for collaborative design is put forward, and the optimism matching Agents are selected by using similarity algorithm to implement different task-modules by the integrated reasoning and decision-making mechanism with the behavioral model of collaborative design Agents. With the results of experimental studies for automobile collaborative design, the feasibility and efficiency of this methodology of task-oriented modular and Agent-based collaborative design in the distributed heterogeneous environment are verified. On this basis, an integrative automobile collaborative R＆D platform is developed. This research provides an effective platform for automobile manufacturing enterprises to achieve PCD, and helps to promote product numeralization collaborative R＆D and management development.

Product Modular Design Incorporating Preventive Maintenance Issues

Traditional modular design methods lead to product maintenance problems, because the module form of a system is created according to either the function requirements or the manufacturing considerations. For solving these problems, a new modular design method is proposed with the considerations of not only the traditional function related attributes, but also the maintenance related ones. First, modularity parameters and modularity scenarios for product modularity are defined. Then the reliability and economic assessment models of product modularity strategies are formulated with the introduction of the effective working age of modules. A mathematical model used to evaluate the difference among the modules of the product so that the optimal module of the product can be established. After that, a multi-objective optimization problem based on metrics for preventive maintenance interval different degrees and preventive maintenance economics is formulated for modular optimization. Multi-objective GA is utilized to rapidly approximate the Pareto set of optimal modularity strategy trade-offs between preventive maintenance cost and preventive maintenance interval difference degree. Finally, a coordinate CNC boring machine is adopted to depict the process of product modularity. In addition, two factorial design experiments based on the modularity parameters are constructed and analyzed. These experiments investigate the impacts of these parameters on the optimal modularity strategies and the structure of module. The research proposes a new modular design method, which may help to improve the maintainability of product in modular design.

Parametric Design of Modular Fixture Structure

Based on an example of its typical structure, the concept of modular fixture structure module is presented, and the structure module system of modular fixture is summarized. Then the parametric design of structure is discussed, and its advantages are also emphasized.Furthermore, some specific methods are provided, such as the selection of fixture components, the determination and input of parameters, drawing representative model,and the creation of drawing. Finally an applied example of strcture parametric design is presented.

A Study on Modular Fixture Design with Intelligent Selection of Elements and Interactive Assembly

Based on the features of the design and assembly of rnodular fixtures, a new design system which combines intelligent selection of elements and interactive assembly is presented.Using the fixture design datum, the system can automatically select elements,and can interactively assemble together these elements based on AutoCAD. An example is given to illustrate it.