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.

The Design of an Air Rower That Can Purify Indoor Air

To solve the problem that utilizing an air rower lowers indoor air quality due to the dust stirred up in the course of rowing, an air rower is designed to have the extra function of air purifying. The designed rower is composed of six parts, which are the frame, air generator, transmission part, air purifying filter cartridge, performance monitor, and electric motor. To fulfill the task, the filter cartridge is vertically arranged to lead the air to enter from the lower part and vent out of the upper part to filter and purify the air before it enters the generator so as that the indoor air is well circulated to improve the air purification effect when the rower is utilizing. The modular detachable design allows the air filter and electric motor to be installed and disassembled to adapt to different air purification needs. The designed rower has the benefit of lower purchasing cost and energy saving that may motivate exercising, bringing more fun and the sense of accomplishment.

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.

Product Specification Analysis for Modular Product Design Using Big Sales Data

Big data on product sales are an emerging resource for supporting modular product design to meet diversified customers’requirements of product specification combinations.To better facilitate decision-making of modular product design,correlations among specifications and components originated from customers’conscious and subconscious preferences can be investigated by using big data on product sales.This study proposes a framework and the associated methods for supporting modular product design decisions based on correlation analysis of product specifications and components using big sales data.The correlations of the product specifications are determined by analyzing the collected product sales data.By building the relations between the product components and specifications,a matrix for measuring the correlation among product components is formed for component clustering.Six rules for supporting the decision making of modular product design are proposed based on the frequency analysis of the specification values per component cluster.A case study of electric vehicles illustrates the application of the proposed method.

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.

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.

Conceptual Modular Design of Auto Body Frame Based on Hybrid Optimization Method

This article presents a systematic research methodology of modular design for conceptual auto body frame by hybrid optimization method.A modified graph-based decomposition optimization algorithm is utilized to generate an optimal BIW assembly topo model composed of“potential modules”.The consistency constraint function in collaborative optimization is extended to maximize the commonality of modules and minimize the performance loss of all car types in the same product family simultaneously.A novel screening method is employed to select both“basic structures”and“reinforcement”modules based on the dimension optimization of the manufacturing elements and the optimal assembly mode;this allows for a more exhaustive modular platform design in contrast with existing methods.The proposed methodology is applied to a case study for the modular design of three conceptual auto body types in the same platform to validate its feasibility and effectiveness.

Overview of development, design, testing and application of compact gas-insulated DC systems up to ±550 kV

The development of high-voltage direct current gas-insulated switchgear assemblies(DC GIS)of rated voltages up to±550 kV has been completed.DC GIS provide a compact technical solution with a high functional density,optimized for projects with limited space as in offshore HVDC converter platforms,onshore HVDC converter stations and transition stations between different transmission media.Up to now,no standards for testing of gas-insulated DC systems are available,although pre-standardization work is in progress within CIGRE.Some tests can be performed as required in AC GIS standards.Special aspects of DC voltage stress,like the electric field distribution of insulators influenced by the accumulation of electrical charge carriers and the operation-related inhomogeneous temperature distribution,must be considered by additional electric and thermoelectric tests.For DC GIS,the experience of long-term performance is limited today.Although ageing is expected to be of lower importance,tests are recommended.This contribution summarizes the physical and technical background to design and develop compact DC switchgear assemblies using gas-insulated technology.It explains the developed modules of the substation and gives an overview of the performed tests.Furthermore,it provides an insight in the on-going standardization activities and describes applications in converter and transition stations,showing its space-saving characteristics.

Modular Design Using Sustainable Luminescent Materials in Energy-Saving Reflective Cat’s Eyes for Public Road Safety Planning

Recently,there has been a global movement toward environmental protection and energy conservation through the design and development of new products in accordance with sustainable utilisation.In this study,rare earth luminescent materials were used owing to their active light emission and reusability.Additionally,solar lightemitting diode lights and car-light reflection were utilised to increase the recognition and reliability of reflective cat eyes.Along with carbon reduction,this can save energy and enhance road safety.This study considered the Theory of Inventive Problem Solving and a literature review to analyse the issues in existing products.Then,expert interviews were conducted to screen projects and develop product design policies.Finally,the ratio of light-storage materials was experimentally determined and the prototypes implemented.This cat’s eye addresses the shortcomings identified in previous analyses of existing products.We applied energy storage environmental protection materials,together with material proportioning(which balanced warning efficiency against cost-effectiveness)to develop diversified modular kits;these were flexible in terms of quantity and easily assembled.This study achieved four key objectives:(1)reducing the research and development costs of the manufacturer;(2)offering buyers a diverse suite of products;(3)responding to a need to improve diverse road user safety;and(4)reducing government procurement costs for safety warning products.The results provide a reference for the creative modular design of energy-saving products for public road safety planning in various industries.

Study on Design Methodology of Mass Customization Products

Based on introduction characteristics and classific at ion of Mass Customization (MC), the paper expounds foundations and design me thods of MC. The foundations of MC production are standardization, seriation and normality of production, guiding thought of Concurrent Engineering (CE), ap plication of CAD/CAM technology and etc. And design methods of MC products are d esign for product family, modular design, parameterization CAD, variant design, design for manufacturing (DFM) and design by customers. Design for product famil y is a method that first to design a basic form of the product, and then to with draw variant parameters to become a variable product model, makes a family or a series of product design at the same time. Modular design is that based on produ ct function analysis of different function or the same function but different sp ecification within a certain scope, divides and designs out a series of function modular, and through selection and combination of the modular can make up diffe rent products. Parameterization CAD is a CAD method that has function of dimensi on drive. Variant design is a method that under circumstance of keeping principl e constant and construction similar or likeness, properly adjusts part of constr uction and design parameters to adapt design demands. DFM demands the designer t o consider problems that will appear in manufacture in the stage of design, and to avoid them through optimal design. And design by customers is guiding custome rs to design within the scope of production capacity of enterprise and optional items that enterprise has designed to satisfy their requirements of form, functi on and price. Among them modular design, parameterization CAD and variant design are key technology of design methods of MC products. And design by customers is a main characteristic of design of customization product, and an effective sale means also.

Applications of modularized circuit designs in a new hyper-chaotic system circuit implementation

Modularized circuit designs for chaotic systems are introduced in this paper.Especially,a typical improved modularized design strategy is proposed and applied to a new hyper-chaotic system circuit implementation.In this paper,the detailed design procedures are described.Multisim simulations and physical experiments are conducted,and the simulation results are compared with Matlab simulation results for different system parameter pairs.These results are consistent with each other and they verify the existence of the hyper-chaotic attractor for this new hyper-chaotic system.

Design and Implementation of an Online Shopping System

The paper puts forward a kind of online shopping system based on ASP. NET technology, including the establishment of data- base anti the design of the front web pages. The system uses Microsoft ASP. NEF as development platform, C as the server language, and Microsoft Visual Studio 2008 as the development tool. ADO. NET is used to connect with SQL SERVER 2000 database through the data- base controls. A variety of server controls are used to create the ASP. NET page to implonent the syste^n functions. The syston is designed in 3-Layer application which includes Presentation Layer （PL）, Busi- ness Logic Layer （BLL） and Data Access Layer （DAL）. The operation of the database is in DAL, the logic fimction is in BLL. So the amotunt of work in the development, the difficulty of system maintenance and the upgrading can be reduced. After being tested, the system meets the requirement of the users.

Reform and Innovation of Creative Writing Teaching——Modular Teaching Design and Personalized Process Evaluation

In recent years,creative writing courses have attracted much attention in China,but there is a lack of relevant research on the practice of creative writing courses at present.Teachers are faced with such problems as vague teaching objectives,complex teaching contents,and lack of practical schemes.Moreover,it is difficult to evaluate the results of creative writing courses comprehensively and truly.Through the modularized combing of the course content and the establishment of personalized process evaluation scheme,we have realized the creative inspiration and creative practice guidance for students in creative writing course teaching,and enhanced the students’participation in the course and practical ability.

Proof of Concept of a Novel PEM Fuel Cell Stack Design with Hydraulic Compression

In this study, a novel design concept for PEMFC （polymer electrolyte membrane fuel cell） stacks is presented with single cells inserted in pockets surrounded by a hydraulic medium. The hydraulic pressure introduces necessary compression forces to the membrane electrode assembly of each cell within a stack. Moreover, homogeneous cell cooling is achieved by this medium. First, prototypes presented in this work indicate that, upscaling of cells for the novel stack design is possible without significant performance losses. Due to its modularity and scalability, this stack design meets the requirements for large PEMFC units.

MODULE DEFINITION MODEL FOR MODULAR DESIGN AND MANUFACTU－RING OF HEAVY DUTY MACHINE TOOLS

The key techniques of modular design of heavy duty NC mathine tools are described. Amodule definition modelfor modular design and manufacturing of heavy duty NC machine tools isbulit and the essential composition of the module definition model (MDM) is discussed in detail. Itis composed of two models: the part definition model (PDM) and the module assembly model(MAM). The PDM and MAM are built and their structures are given. Using object-oriented know-ledge representation and based on these models, an intelligent support system of modular design forheavy duty NC machine tools is developed and implemented This system has been applied to thepractical use of Wuhan Heavy Duty Machine Tool Works

Modular flexible“Tetris”microsatellite platform based on sandwich assembly mode

In this paper,a flexible modular“Tetris”microsatellite platform is studied to implement the rapid integration and assembly of microsatellites.The proposed microsatellite platform is fulfilled based on a sandwich assembly mode which consists of the isomorphic module structure and the standard mechanical-electric-data-thermal interfaces.The advantages of the sandwich assembly mode include flexible reconfiguration and efficient assembly.The prototype of the sandwich assembly mode is built for verifying the performance and the feasibility of the proposed mechanical-electric-data-thermal interfaces.Finally,an assembly case is accomplished to demonstrate the validity and advantages of the proposed“Tetris”microsatellite platform.

Kinematics Analysis Based on Screw Theory of a Humanoid Robot

A humanoid robot is a complex dynamic system for its idiosyncrasy. This paper aims to provide a mathematical and theoretical foundation for the design of the configuration, kinematics analysis of a novel humanoid robot. It has a simplified configuration and design for entertainment purpose. The design methods, principle and mechanism are discussed. According to the design goals of this research, there are ten degrees of freedom in the two bionic arms. Modularization, concurrent design and extension theory methods were adopted in the configuration study and screw theory was introduced into the analysis of humanoid robot kinematics. Comparisons with other methods show that: 1) only two coordinates need to be established in the kinematics analysis of humanoid robot based on screw theory; 2) the spatial manipulator Jacobian obtained by using twist and exponential product formula is succinct and legible; 3) adopting screw theory to resolve the humanoid robot arms kinematics question can avoid singularities; 4) using screw theory can solve the question of specification insufficiency.

Numerical and Experimental Research on Modular Oscillating Fin

Fishes are famous for their ability to position themselves accurately even in turbulent flows. This ability is the result of the coordinated movement of fins which extend from the body. We have embarked on a research program designed to develop an agile and high efficient biologically inspired robotic fish based on the performance of hybrid mechanical fms. To accomplish this goal, a mechanical ray-like fin actuated by Shape Memory Alloy （SMA） is developed, which can realize both oscillatory locomotion and undulatory locomotion. We first give a brief introduction on the mechanical structure of our fin and then carry out theoretic analysis on force generation. Detailed information of these theoretical results is later revealed by Computational Huid Dynamic （CFD）, and is final validated by experiments. This robotic fin has potential application as a propulsor for future underwater vehicles in addition to being a valuable scientific instrument.

Virtual Instrument System for Teaching Lab

Virtual Instruments, which have the most brilliant prospect in the domain of instruments, are the combination of the computers and traditional instruments. According to the constructions and the characters of the Teaching Lab Instruments, the paper introduces the principle and design of Virtual Instrument System. Meanwhile, a practical application is indicated.

Large-area Flexible Organic Solar Cells: Printing Technologies and Modular Design

Flexibility is the most prominent advantage of organic solar cells(OSCs) compared with traditional photovoltaic devices, showing an irreplaceable commercial potential. Currently, the maximum power conversion efficiencies(PCEs) of single-junction OSCs have been over 19% and 16% upon rigid and flexible substrates, respectively, which meet the criteria for commercial application. Extensive research efforts are under way, such as device configuration design, interface/photosensitive layer synthesis, transparent electrode modification and printing technology innovation, however, the reasonable selection of printing technologies, the huge performance loss of large-area printing process and the structural design of flexible modules are still the bottlenecks, limiting the commercialization of OSCs. This review focuses on the technical challenges and rational modular configuration design for printing preparation of flexible high-efficiency large-area organic devices, from the aspects of the functional layer material selection, printing process research status and large-scale efficiency losses. These will promote the integrated applications of printable organic semiconductor materials for next-generation clean energy and appeal extensive attentions in wearable electronics, building-integrated photovoltaics and Internet of Things, etc.