针对消除中大型结构复杂的构件的残余应力问题,应用TRIZ理论对当前振动时效装置进行创新设计。通过九屏幕分析及因果轴分析,找到问题存在的根本原因,通过建立技术矛盾矩阵与物场模型对问题进行解决并提出方案,最后提出混联式多维振动时效机器人的设计,为后续产品开发提供理论依据。

以自行设计的液压压紧式牵引传动装置为基础,针对装置传动过程中的自旋功率损失和滑动功率损失进行了理论研究,结合弹流润滑理论对内、外摩擦副的牵引特性进行了数学建模,并通过多重网格方法进行了联合求解,从而获得了系统的传动效率及其变化规律.研究结果表明液压压紧式牵引传动装置具有转速高、功率大的传动特性,通过控制液压压紧力,可使传动装置的传动效率达到95.5%以上;自旋功率损失随着传动比的增加呈现出先减后增的变化规律,滑动功率损失随着传动比的增加而减小,当传动比大于0.5时,滑动功率损失趋于稳定;系统的效率随着传动比的增加呈现出先减后增的变化过程.

分析负载谐振型高频逆变器环流产生机理，指出开关管关断延时是环流产生的真正原因。提出采取频率跟踪和相位补偿双重调节法对开关管控制信号进行调节，即实时检测谐振频率和环流持续时间，调节开关频率使其跟随谐振频率变化，并将控制信号提前相应时刻，以保证开关管在谐振电容电压过零点切换，从而抑制环流。给出以DSP芯片为载体的环流抑制系统的设计方案。仿真验证了该控制方法的有效性。

The three dimensional temperature field of the gap between piston and cylinder was obtained by numerically solving energy equation. The boundary condition of the equation was given in the form of heat transfer coefficient, instead of solving the temperature field of solid parts. The temperature field was calculated both under high speed high pressure condition and low speed low pressure condition. The numerical result was compared to experimental result under low speed low pressure condition and showed good agreement. It was shown that the influence of heat transfer coefficient on film temperature was significant. The adiabatic condition was reasonable under low speed low pressure condition, but invalid under high speed high pressure condition. It was a good way to describe the influence of solid parts on temperature using heat transfer coefficient but avoiding solving the temperature field of solids parts.

为提高巡检机器人行走稳定性及越障性能,解决煤矿井下非结构化和复杂未知环境的安全巡检问题,提出一种浮动式巡检机器人移动底盘的设计方案。阐述巡检机器人浮动式移动底盘的结构设计及工作原理,分析巡检机器人越障过程,推导巡检机器人质心位置,得到越障高度与移动底盘位姿关系。运用ADAMS建立巡检机器人虚拟样机,模拟机器人在井下各种复杂路面行走及越障过程。结果表明:所设计的浮动式移动底盘提高了巡检机器人在井下复杂路面行走的稳定性