众多职业院校正在探索智能制造导论课程开设的可行性与方法.通过分析综合类或理工类职业院校在全校开设智能制造导论课的必要性,通过与智能制造技术的相关性分析确定了本课程在强相关专业的专业领域基础课,弱相关专业的校级通识课的课程定位与目标.通过智能制造技术体系分析和典型教材分析完成了智能制造导论的课程内容和实践教学设计.

虚拟仿真改变了原有演示实验的教学模式,有效地解决了实验条件与实验效果之间的矛盾.以机械设计的单级直齿圆柱齿轮减速器传动装置为载体,探究虚拟仿真技术在机械设计实验教学中的应用.以单级减速器的随机工况为已知条件,对齿轮传动装置进行润滑和密封设计作为实验任务,并与虚拟仿真技术进行深度融合,开发虚拟仿真实验教学系统进行教学实践.该系统具有交互式、沉浸式、可视化、立体式和多层次的特点,培养学生的实践和自主探索能力.同时,还构建了远程虚拟实验室平台,学生可以通过网络不受时空限制地进行实验,与其他实验者共享资源.

针对目前中小学机器人教育理论体系不完善、师资力量薄弱、城乡发展失衡、教育机器人标准不统一等问题,文章基于发明问题解决(Teoriya Resheniya Izobreatatelskikh Zadatch,TRIZ)理论,构建了中小学机器人教育问题解决模型,并推导得出了以模块化机器人来推进中小学机器人教育的策略.在此基础上,结合认知发展规律,文章构建了模块化机器人教育课程体系.以模块化机器人作为机器人教育的载体,既是解决目前我国中小学机器人教育困境的有效途径,也对我国中小学机器人教育的健康、规范和可持续发展起着积极的促进作用.

A morphological rolling robot of closed five-arc-shaped-bar linkage is presented. The rolling locomotion of the robot can effectively be propelled by morphing the shape of the robot to shift its center of gravity and forming surface-compliant configuration. Herein, we present the mechanical structure of the robot, kinematics modeling, and then dynamics of the rolling robot is analyzed with Lagrange's equation to obtain the generalized forces. Besides, the joint paths confined by rolling constraints are generated with the optimal principle of minimal module between the joint position and the reference joint trajectory. Then four schemes of dynamic rolling motion laws are presented with the purpose of comparison, and the simulation results show that the sinusoid motion law is more suitable for the dynamic rolling of the robot, due to the non-sharp transition in the rolling path and also the relatively small velocities and accelerations of the joints. Furthermore, dynamic rolling experiments on the prototype are used to verify the proposed concept and the results show that the dynamic rolling locomotion of this robot has favorable characteristics in speed, compliance and continuity. (C) 2017 Elsevier Ltd. All rights reserved.

A morphological rolling robot of closed five-bow-shaped-bar linkage is presented in this paper. The exterior of each bow-shaped-bar represents a portion of a circle, and then the robot could be propelled forward by displacing the center of mass of the robot relative to the contact point between the rounded exterior of the link and the ground. Herein, we present the mechanical design, kinematics modeling and the analysis of dynamic rolling constraints including the mechanical configuration and motion continuity. And then four schemes of rolling laws limited by the constraints are used to plan the joint paths and analyze the stability with zero moment point (ZMP) criterion. As the results of the trajectory planning with the principle of minimal module between the joint position and the reference trajectory, the rolling laws without sharp transition, such as sinusoid and modified trapezoidal curve, are more appropriate for the dynamic rolling on the robot. Furthermore, dynamic rolling experiments on the prototype are used to verify the trajectory planning. The experimental results show that the rolling locomotion of this robot has favorable characteristics in speed, compliance and continuity.

Slope climbing capacity of a close chain five-bow-shaped-bar linkage and minimum friction coefficient during climbing are analyzed. First, the analysis model of slope climbing for the closed linkage is established, and the CG position kinematics model on slope is built with homogeneous transformation matrix. Secondly, the static analysis model is established to get the active joint angle along with a certain slope under the geometrical constraint of the slope, and the graph between the maximum slope and roll angle is obtained by using numerical method. Thirdly, the minimum static friction coefficients curve is figured out by the force relationship. Then, motion planning is conducted by the constant CG offset for uniform climbing, thereby solving the active joint trajectory. Finally, slope climbing experiments are carried out to verify the correctness of analysis results.

To investigate the terrain adaptability of a closed five-bow-shaped-bar linkage, capability and motion planning for obstacle negotiation are investigated. The mass center expression of the linkage about the contact angle and the active joints is deduced by homogeneous transformation through the establishment of kinematics analytical model for the closed five-bow-shaped-bar linkage. The mathematic model for maximum height of obstacles negotiation is extracted out under the condition of kinematics and geometric constraints in the process of obstacles negotiation. And also, the maximum height along with the contact angle and the radius of joint circular is figured out by using numerical algorithm. Once more, according to the concave characteristic of feasible region of the mass center, the move path for the center of mass is planned by tangent method in accordance with the shortest route strategy. Then, the trajectories of active joints are obtained by means of inverse kinematics. The correctness of the analysis is verified by experiment in a prototype finally.

The application of Stainless steel electric kettle market is more and more big,and people's requirement on the quality of the electric kettle are increasingly.To guarantee the mechanical polishing quality of the weld on the kettle spout,the path plan of polishing the welding surface has been done in this paper.First of all,in order to facilitate the numerical control processing,the model of the electric kettle need to be established,and the contact point set of the cutter is extracted effectively,meanwhile the analysis of thepolishing feed and posture control has been done to getthe rotation A ngle formulaof the knife shaft.Finally the motion simulation analysis has been done based on the analysis of the trajectory,and This kind of processing methodcan improve the machining efficiency and machining qualityin the very great degree.

基于变胞原理提出一种转子与气缸分离、以平面变胞间歇机构实现周期性配气的微容积式机器.首先,采用型综合的方法设计具有间歇运动的平面变胞机构,进而根据该变胞机构设计出了微容积式机器的整体方案,并得到表示各构态下变胞副运动状态的变胞机构运动循环表和等效阻力梯度线图;最后对平面变胞机构关键部件及容腔运动规律进行仿真分析.研究设计表明,基于变胞原理的容积式机器结构简单、动态特性好,为提高容积式机器的综合性能提供了一种新的途径.

城市街区自助图书馆系统是在物联网基础上兴起的文化建设项目，是一种新型的图书馆发展模式。自助图书馆机械手作为图书传输的执行部件，具有借书传输、还书传输、自动分拣的功能，是自助服务效率和安全传输的关键。本文介绍了自助图书馆图书的传输方式，机械手机械系统工作原理以及机械手详细结构。机械手运行稳定，很大程度上提高了图书传输的安全性和自助服务的效率。

城市街区自助图书馆系统是在物联网基础上兴起的文化建设项目,是一种新型的图书馆发展模式.自助图书馆机械手作为图书传输的执行部件,具有借书传输、还书传输、自动分拣的功能,是自助服务效率和安全传输的关键.论文首先介绍了机械手图书传输的实现方式和机械手图书夹持装置的结构,然后对机械手进行了运动规划.在此基础上,基于单片机、运动控制卡和PC机对机械手控制系统进行了设计.市场反馈表明该机械手控制系统运行稳定,很大程度上提高了图书传输的安全性和自助服务的效率.

A rolling mechanism of close chain five-bow-shaped-bar linkage was presented in this paper . By adjusting the shape of the mechanism ,the centroid of the mechanism was offset from the center of the virtual rolling circle corresponding with the bow-shaped-bar which was touching the ground ,and thus the rolling mechanism was self-propelled by the gravitational moment generated from the centroid offset .Firstly ,the structure of close chain five-bow-shaped-bar linkage was designed based on the symmetrical principle so that the centroid of the mechanism coincided with its geometrical centre when the outer contour of the mechanism was round .Secondly ,the quasi-static rolling kinematics of the mechanism was analyzed by close-loop vector method .The relationship between the centroid vector of the mechanism and the joint angles of the two actuators was obtained both in the process of a bar con-tacting the ground and in the moment of a joint contacting the ground .Then ,the trajectory of the centroid vector which could meet the requirement of stable rolling was figured out when the joint con-tacted the ground .Using the strategy of constant centroid offset ,trajectory planning of quasi-static rolling was carried out by least square method .Finally ,a prototype was manufactured ,and the experi-ment results show the feasibility of stable rolling of the close chain five-bow-shaped-bar linkage .

This paper introduces a three-axis kettle automatic polishing machine.This machine is use to solve the problems of high labor costs,low efficiency and dust pollution in the kettle processing.It also lays stress on introducing the principle of the automation data acquisition and the optimization of data collection and analyses the differentiation between the optimized data and the manual collection data.By analyzing the two sets of data,the reliability of the automatic data collection is verified.

Large-span gates with the width of 60m~120m were planed in a lake of China. This paper describes concept designs of headstock gears available in sandy-freshwater. Locomotive engine, with hydraulic-motors & gears, was the selection to drive the floating sector gate; The V-rotating gate was driven by rods or hydraulic-motors.

For the large-scale river model's characteristics,one kind of tide generation system based on the bi-directional pump's VVVF was designed and developed.Collect model's frequency-water level node data and use cubic spline interpolation to get the relation curve.The pump motor's operation frequency is controlled based on the related curve combining the fuzzy-PID for the accurately tide generating purposes.The system uses real-time serial communication of the PC to remotely control frequency converter,and operates with a variety of modes.By the Jiangyin shoreline flood protection model experiment,it has been proved that the system is convenient,stable and reliable,and meet the design required precision.

Improving the product machining efficiency is always an important method to lower the cost and improve the enterprise competitiveness in manufacturing industry.Efficient machining methods and measures were introduced,and the current situation of the development of the CNC modular machine was summarized.A kind of machining technology of multi-tools gang control was proposed,and based on this technology,a mechanical polishing machine with single-station multi-tool and multi-station multi-tool was developed,which was used to polish aluminum wheel and stainless steel electric kettle respectively.Now they are applied to the enterprises'actual production.The machine can work stably and reliably,and the processing efficiency was improved by 70% based on stable polishing quality with this method.Besides,it had important economic benefits and social effects in reducing the pollution and ameliorating peoples'work environment.This could show the feasibility and practicability of the machining technology of multi-tools gang control.

A Digital polishing machine used to polish electric kettle surface is introduced in order to resolve the problems of serious pollution,low efficiency and unstable quality with the manual polishing of the kettle surface.The paper describes the error's reason and the influence caused by the stepping motor lost time of the machine and then proposes the method that the acceleration and deceleration are controlled by the stepping motor base on 51SCM to eliminate the error.In the same time,the feasibility of these methods is confirmed through experiments.

The electric kettles' market prospect is extremely broad,but the traditional manual polishing seriously restrict the development of the industry.According to the actual background of the electric kettle's industrial production,the automatic polishing system of electric kettle was developed.The electric kettle's material composition and polishing characteristics were analyzed.Based on this polishing system,the corresponding experiments was done to research the influence of process parameters,such as grinding depth,abrasive tangent speed,workpiece rotating speed and axial feeding speed on polishing quality.The orthogonal test was used to choose the best process parameters,which improved the polishing quality and efficiency.It provides theoretical basis for automatic polishing process of stainless-steel electric kettle and other congeneric products.

This paper introduces a kind of polishing process based on automatic polishing system,which is used for stainless steel instead of hand work to achieve stable quality,high efficiency.Assuming that the polishing process obeys elliptical Hertzian contact,preston equation is used to find out thess factors of the material removal quantity relationship among abrasive and surface,touch press under the relative speed.The screw pitch of helix track is choosed rightly to ensure the uniformity of surface quality from the processing experiment it is concluded that the perfect finishing surface can be gained.

To resolve the problems of manual polishing for stainless steel electric kettle,such as,serious pollution,low efficiency and unstable quality,an automatic polishing system for stainless steel electric kettle surface was successfully developed.The system adopted the method of multi-abrasive and multi-station,which can polish three kettles in a time and improve the polishing efficiency;making sure of the polishing quality of kettle surface,the spiral tool path was planed,meanwhile a method of data generating for cutter location with teaching method was recommended and a method of optimal path engendered with NURBS curve fitting was used to optimize the tool path.The experimental result proves that this method can produce higher polishing quality and efficiency compared with manual polishing.