Based on the multibody dynamics software ADAMS and FEM software ANSYS,a virtual test method is put forward to perform the qualitative analysis and quantitative analysis of anti-impact property of the robot. A virtual sensor is used to measure the collision force between the robot and the ground and the interaction force between the substructures of the robot so as to obtain the time-domain information of the forces. Then,the distribution and change of the stress and strain of the substructures under the strong impact load is analyzed with the aid of FEM software so as to find the weakness in the anti-impact property of the robot.The virtual test method is also adopted to analyze the anti-impact property of the limb plates of the robot.The result shows that the front and rear limb plates have good anti-impact property when the falling height for the robot is 3 meters.Virtual test method features real time sensing,high efficiency and repeatability.

PCB ( Printed Circuit Board) is a kind of carrier of electronic products which has a distinc-tive feature involving light-size, light-weight, compressed-density, high-reliability and low-cost. PCB drilling machine tool as the key equipment used in PCB processing field is in procession of characteris-tics of high-speed, high-precision, high-stability and low-budget. Those requirements of high-perfor-mance drilling machine make it hard of product research and development. It is difficult to meet the re-quirement of design by tradition method. This paper is to provide up-to-data of market application and a new idea for product development for national and international fellow traders through studies into function design of PCB drilling equip-ments, market-application statistics,and comparisons among well-known products.

Aimed at the research on robot kinematic performance in the unkown circumstances,A locomotion design of a four-dof(degree of freedom)man-portable caterpillar robot was proposed,By applied modular design,the robot's layout consisted of three detachable locomotive parts,and the robot had the advantage of self-adapting more complex terrain,Through actively adjusted the flangle flate,robot had the capability of climbing higher obstacle,cossing wider gap and the characteristic of up/down-stairs.The robot's mechanical construction,movement theory,motion procees,and the numerical analysis of robot's motion parameter would be explained.

The structural designing scheme of a new kind of 4DOF portable pedrail robot has been put forward.The three segmented modularized design was adopted for the robot,it could be rapidly disassembled and is suitable for carrying about by single person or carrying out maintenance.The robot has good flexible property and possesses evident superiority in the aspects of getting over obstacles,striding over ditches and climbing.The structural characteristics of robot and realization of its kinematic functions were introduced.And encircle two main aspects of traditional design and structural design to carry out detailed exposition on the contents of transmission structural layout,realization of transmission,modularized structural design and shock resisting structural design etc.of robot.