With the development of robotics technology,industrial robots are widely used in automation production,which greatly improves the production efficiency and automation degree. Trajectory planning is the key link to complete the task,and trajectory optimization further improves the quality of mission completion and meets the needs of industrial development. The research progress of trajectory planning and optimization for joint space of industrial robots is reviewed. Firstly,the algorithm of joint space trajectory planning is briefly described. It is pointed out that polynomial interpolation is the main mode,and B-spline curve is an inevitable trend of future development due to its excellent characteristics. Then,the trajectory optimization under different objectives is comprehensively summarized,and the existing problems such as the determination of the optimization objectives and the improvement of the algorithm are pointed out. Finally,the future development direction is prospected. The multi-objective optimization solution and dynamic adjustment of constraints will be the focus of future research.

The analysis of meshing process of involute spur gear is an important basis to judge the transmission quality,and especially contact stress,transmission error and meshing stiffness are key indexes. According to the TCA model of spur gear,curvature radii in different meshing points are extracted. The meshing process of tooth surface is simplified as elastic extrusion between pairs of cylinders with different radii.Considering the load distribution between the teeth,the Hertz principle is used to carry out load-bearing contact analysis on the tooth surface. It shows that the results of this method are quite same as the results obtained by FEM and experiment.The error of the maximum of the contact stress is 0.74%.The results of transmission error and meshing stiffness are essentially same.The dynamic process of tooth surface contact and meshing stiffness can be reflected by this analysis method.

With the development of wind turbine,high-speed railway,aero-engine and other large equipment towards the direction of high reliability,long life and intelligence,it has put forward higher requirements for the life of basic components such as gears and bearings. It is urgent to use more scientific and efficient fatigue life prediction method.The life prediction methods of mechanical components can be divided into physical failure model,data-driven model and fusion model(physical failure and data-driven model fusion) three types.With the development of components life prediction research towards high precision and high efficiency,physical model is difficult to meet modern needs due to its complexity,time-consuming and non-universal disadvantages.With the rapid development of machine learning,deep learning and other technologies,data-driven model has become a hot topic in the research of components fatigue life prediction of due to the advantages of no need to know detailed failure mechanism and accurate prediction results. In view of this,the fatigue life prediction method of components based on data-driven is described.The application of these methods in the life prediction of components is introduced,including neural network,support vector machine,random forest and deep learning,and the characteristics of each method are summarized,and the developing trend of the life prediction method of components based on data-driven is discussed. And a case study of gear contact fatigue life prediction based on GA-BP neural network is presented.

As a kind of high-performance and precision transmission device with large transmission ratio, high transmission efficiency, high transmission precision, smooth transmission and low noise, harmonic reducer is more and more widely used in industrial robots, aerospace and other fields. Harmonic reducer needs to conduct a comprehensive test to ensure the performance of its reliability. Combined with domestic and foreign scholars' research and progress on harmonic reducer testing technology, the exposition from the aspects of transmission precision, torque, stiffness, life time and integrated testing system are carried out, and the development trend of harmonic reducer testing technology is analyzed.

In order to solve the problem that the signal-to-noise ratio of the gearbox fault signal is low and fault feature extraction is difficult, a method for extracting gearbox fault feature based on parameters optimized variational mode decomposition is proposed. Firstly, the drosophila optimization algorithm is used to search for the most optimal combination of the variational mode decomposition's K and α, aiming at the minimum local entropy of the decomposition result. The original signal is decomposed into several IMF components, from which the component with the smaller envelope entropy is selected for signal reconstruction, and the reconstructed signal is demodulated to extract the fault frequency feature from the envelope spectrum of the reconstructed signal. The results show that this method can reduce the noise and extract the fault features of gearbox successfully, and the effect of noise reduction is better than the empirical mode decomposition method, and the extracted fault features are more obvious.

Combining robot technology and CNC machining technology,a three -degree-of-freedom high-stiffness robot is designed. The three-degree-of-freedom structure is determined by the analysis of processing requirements,and the theoretical analysis of the multi-degree-of-freedom space is performed,and the structural design plan is determined. The brake is added to each axis of the robot to clamp the brake disc of the robotic arm,the end rigidity of the robot is improved by the structure scheme.

In order to correctly evaluate the gear strength calculation results in different standards, the difference between Chinese aviation industry standard(HB) and international standardization organization standard(ISO) in calculating the load capacity of bevel gear tooth surface contact fatigue is analyzed and compared.Through the two ways of comparison of calculation methods and examples, the differences of the two standard calculation formulas, the types of correction coefficients, the differences in values and their effects on the calculation results are found out.The results show that the ISO standard considers more influence factors than the HB standard, and the range is wider.Especially, there is a great difference in the calculation of dynamic load coefficient, which makes the basic value of contact stress calculated by ISO standard smaller, the calculated contact stress equivalent, and the allowable contact stress larger.

Unpowered exoskeleton assist robots have the advantages of no energy consumption,low cost and convenient use,which can be widely used in industry manufacture,medical rehabilitation and other fields. The definition and classification are expounded systematically and the principles are introduced. The kinematic diagram of typical domestic and foreign unpowered exoskeleton assist robot is drawn and the corresponding structure principle is briefly described. Finally,the shortcomings,key technologies that need to be broken through are summarized based on the survey results. It should be helpful for those researchers devoted to unpowered exoskeleton support robots.

Compared with ISO 6336:1996 edition, there are great changes in the latest edition of ISO/FDIS 6336-1 to 3:2019, in particular, the calculation of the helix angle factor for helical gear has a subversive change. In order to facilitate the reader to understand the changes of the new ISO 6336, the main changes in the content of different editions of ISO 6336 are introduced, the influences of the helix angle factors and single pair tooth contact factor on safety factor before and after modification are analyzed, and the influence of helix angle on the calculation results of contact strength and bending strength are discussed here with examples.

In order to make the best obstacle performance of the crawler deformable robot, and to ensure that the crawler length does not change and continue to tension during the change process, the ellipse theorem and the elliptical rule principle are applied to the robot configuration design, and a new type of crawler deformable robot is developed. The introduction of the rear swing arm enriches the configuration change of the robot, and the center of gravity of the robot has a large degree of adjustment during the rotation of the front and rear swing arms, the obstacle performance of the robot is improved. Mathematical models of typical obstacles such as ramps, steps and gullies are established. The gait planning and motion mechanism analysis of robot overcoming obstacles are established. The kinematics and dynamics models of robot obstacles are established, and the critical conditions for robots to overcome various obstacles are analyzed. The limit value is simulated by Adams to overcome the obstacles, and the accuracy of the theoretical calculation value and the obstacle performance of the robot are verified.

The driving linkage of single-crank and bi-rocker in plate turnover machine is essentially two crank-rocker linkages of centric type together with a driving shaft,in which two cranks have a phase difference.The working principle of the driving mechanism is analyzed and its accurate description of synthesis problem,which is synthesizing a crank-rocker mechanism of centric type according to allowable transmission angle,when the frame length and the swinging angle of rocker are given. The analytic relation of these mechanisms between the minimum transmission angle and the link lengths,the swinging angle of rocker is derived,the changing trends of the link lengths and the maximum length ratio when minimum transmission angle approaches its supremum is also analyzed.Furthermore,the analytic method is built to synthesize a crank-rocker mechanism of centric type according to permissible transmission angle. A case for synthesizing the driving linkage in plate turnover machine is given,and then the correctness and feasibility of the synthesis method of the results of performance parameter analysis are verified.

Based on the dynamic measurement method of grating, a set of gear transmission error measure-ment and data processing device and system are established to realize the precise measurement of gear transmis-sion error. According to the forming process principle, an accurate finite element analysis model including gear assembly error, manufacturing error and modification is created, then the process of simulation test is conduct-ed, and the simulation results and test data are compared to verify the correctness of the finite element model.

A quadruped wheel-legged mobile robot based on 2-UPS/(S+SPR) R closed loop parallel mechanism is designed for the complex surface environment of aliens planet. The optimal gait is obtained by comparing the stability margin and the barycenter adjustment of the robot in the process of motion, the stability of the robot in the static gait is measured by ZMP method, and the trajectory of the foot end is planned by the improved compound cycloid method.In the whole movement process, the movement of the mechanical leg is stable and the change of speed and acceleration is relatively smooth, which would not cause damage to the mechanical leg due to strong impact. Besides, the speed and acceleration are zero at the moment of lifting the leg and landing, which would not impact the fuselage.The analysis results indicate that the quadruped wheel-legged mobile robot moves flexibly and smoothly, which is suitable for the exploration of outer space.

To research the dynamics characteristic of high load ball screw under angular vibration driving velocity, a flexible body dynamic model and a control model considering the process of ball entering and leaving the re-circulating mechanism are built based on explicit time integration. The comparison of dynamic responses and other characteristics shows that the ball screw under high load has a certain probability of transient stuck originated from the impact between the balls in the groove and the balls in the deflector, this phenomenon stems from the collision between the ball in the raceway and the ball in the reverser, and the common action of the normal force loading and unloading when balls enter and leave the re-circulating mechanism, etc. This research provides a reference for the optimization design aiming at enhancing the dynamic performance of ball screw.

To extend the application of the swashplate engine from special engines to the field of general power machinery,it is necessary to considerate speed stability,dynamic balance performance and manufacturing,etc. A new swashplate engine is designed,it used the nutation movement of a pair of spiral bevel gears to drive the body of the swashplate engine to rotate,so that there is a relative angular displacement between the cylinder cover and the cylinder,and then the differential speed distribution is realized. This scheme not only eliminates the planetary gear system and reduces the kinetic energy loss,but also uses arc bevel gear instead of traditional straight bevel gear to reduce vibration and noise,and the distribution system layout is optimized. A three-dimensional model built with SolidWorks is simulated and comparative analyzed by the Adams platform.The results show that the presented structure scheme has a better stable performance of rotating speed and can effectively control vibration than the conventional straight bevel gear mechanism.

Aiming at safe stairs climbing and efficient locomotion on the ground for aged or physical disabled people, a planetary wheeled electric powered wheelchair (EPW) is designed and the composition of the wheelchair mechanism, control system scheme and its functional characteristics are introduced in detail. Through establishing the dynamic model of the planetary wheel clusters based on the Lagrange equation, the angle acceleration curves with various given equivalent torques are studied, the stability margin of the EPW is analyzed in detail in the process of a single step climbing which has demonstrated that the anti-tip-over bracket can effectively enhance the stability. The planetary wheeled stair-climbing wheelchair can effectively help those who are in need and meet the actual needs of daily travel and climbing stairs.

The single-leg of quadruped robot is the main support unit of the whole robot,and it is also the motion unit of the bottom layer of quadruped robot. Therefore,the design of single-leg will directly affect the movement ability of quadruped robot. Aiming at the Trot gait characteristics of quadruped robot,a new type of single-leg structure adapted to Trot gait is designed,the structure of the new single-leg is optimized from the perspective of size optimization.The numerical results show that the optimized single-leg improves significantly in two aspects,such as increasing the working space and reducing the driving torque,which can be integrated into the whole quadruped robot system as the bottom structure,and also provide some references for the whole quadruped robot structure design.

Taking RV160E reducer as the research object, the assembly sequence of RV-E is studied. The RV160E sub-assembly and the poly-part parts are divided, and the assembly model diagram, assembly association diagram and assembly association matrix are established. The assembly sequence of RV160E is studied by using the cut set theory. By introducing constraints condition, eight theoretically feasible assembly sequences are obtained. Then, the assembly sequence simulation and interference checking are performed by SolidWorks, the range of possible assembly sequences is reduced to four. Finally, the RV160E whole machine is assembled and tested for efficiency and backlash. The feasibility of the four assembly sequences is verified.

The new version of the gear accuracy standard GB/T 10095.1—2022 has been released, and the standard of accuracy of rack is written with reference to the gear accuracy standard.The manufacturing technology and the processing accuracy of racks have changed greatly, so the standard of accuracy of rack has been revised.The main differences between the 2022 version of the standard of accuracy of rack and the 1988 version are: terms and symbols; definition of total tooth profile deviation; measurement of the rack pair; adding the parts detection method of flame cutting large modulus racks for lifting and lowering of offshore platforms, as well as five measurement tools that can be used in the production process of racks.Analysis is conducted concerning the added and the revised parts.

A graphical analysis model is proposed to explore the possible structural patterns and efficiency. The research shows that the existence of cycle power is determined by the structure itself and has nothing to do with the characteristic parameter P. Six structural types with wide transmission ratios were proposed. In combination with the analysis model,the relationship between the transmission ratio and efficiency is discussed, and the transmission ratio range that there must be a cycle power in the condition of characteristic parameter P in[3,8] is obtained. Finally,the efficiency of a scheme is analyzed with this method,and the efficiency is improved by changing the tooth ratio.

An improved quintic polynomial interpolation method is proposed to solve the catastrophe phe-nomenon caused by the original method order in the course of solving the motion trajectory of the robot. The ER 3A-C60 industrial robot produced by a company is taken as the research object. Using the standard D-H param-eter method, the coordinate system of the robot connecting rod is established first, then, the robot simulation model is created and the kinematics forward solution and inverse solution are solved, the workspace point cloud image at the end of the robot is also been made. In the process of solving robot motion trajectory, a fusion meth-od of polynomial interpolation and B-spline interpolation is proposed to eliminate the catastrophe phenomenon. The experimental results show that the optimized joint correlation curve is smoother, the mutation phenomenon is eliminated, and the impact of vibration and shock on the performance and life of the robot is avoided.

As an important part of automobile,the lightweight design of the driving axle housing must be carried out to meet the requirements of its stiffness and strength. In order to ensure the performance requirements,the traditional design concept generally adopts redundant design. Based on the integrated technology of CAD/CAE,the joint design between 3D mathematical model and finite element model is adopted,and the lightweight design of the driving axle housing is realized based on the size optimization algorithm of OptiStruct. The drive axle housing model created by CATIA is introduced into HYPERMESH for pre-processing,the calculation conditions and boundary conditions are designed and proposed. The statics,dynamics analysis and fatigue analysis are used to verify that the drive axle housing meets the use standard. Then the optimization analysis is conducted in the OptiStruct solver,and several iterative calculations are used to get the analysis result. The mass of the optimized axle housing is 152.042 kg,which is reduced by 50.075 kg,and the weight loss reaches 24.78%,and then the optimized drive axle housing is analyzed. Finally,the fatigue bench test of the optimized axle housing is carried out. The analysis and experimental results show that the optimized axle housing meets the test standard and a certain reference value for lightweight design of the same type is provided.

Planetary gearboxes are widely used in mechanical transmission systems due to their large transmission ratio and high transmission efficiency.In a planetary gearbox, the sun gear is usually set to float to balance the sharing of loads among planet gears. However, this floating set will result in the variation of pressure angle, overlap ratio and meshing phase in the meshing progress. In the previous studies, these parameters were reduced to constant. To study the influence of the dynamic parameters on the vibration response of planetary gearboxes under different operating conditions, a new lumped parameter model containing the time-varying pressure angle, time-varying overlap ratio and time-varying meshing phase is established. Based on this model, the vibration response mechanism of the sun gear is analyzed. Moreover, the comparison with the previous model is made and the rule of phase modulation caused by these dynamic parameters is revealed. By comparing the dynamic responses under different loads and rotation speeds, the phase modulation is studied in detail.

At present, the operate time of the most manipulators are not optimally during the working process. In order to improve the working efficiency of the manipulator, a time optimal manipulator trajectory planning method based on the complex method is proposed. The method of 5-7-5 polynomial interpolation method is taken as the basis of trajectory planning, the motion angle, motion velocity and motion acceleration are taken as constraint, the optimization is carried out by using the complex method, the time optimal motion trajectory that meets the motion requirements is obtained. The FS20N robot is used as the object for research and analysis, and imported into MATLAB for verification, the simulation structure shows that the complex method effectively optimizes the time.

The joint motor is one of the core components of the foot robot,and its dynamic response directly affects the performance of the robot. Among them,the planetary reducer is a precision mechanical transmission mechanism,and its transmission accuracy is closely related to the deformation of key parts. Therefore,by using Adams,a rigid-flexible coupling dynamics simulation model of the joint motor is established to simulate the transient output characteristics during the startup process.In the model,the key parts are flexibly processed,and the motion pair constraints between the parts are set. The Hertz contact theory is used to calculate the contact stiffness coefficient of the planetary gear and the sun gear and the inner gear ring. The simulation results show that the dynamic characteristics of the joint motor are closely related to the acceleration time and inertial load.A larger acceleration time and a smaller inertial load are beneficial to improve its dynamic performance.

The development history of foreign face gear processing and the principles and methods of face gear processing are introduced,the application of face gears in the aerospace field is summarized,the progress and achievements of domestic face gear processing are expounded according to the different processing methods of face gears,and the domestic insufficiency of face gear processing technology is pointed out.Finally,in combination with actual development needs,it is proposed that the face gear should follow the concept of high-quality,high-efficiency and sustainable green development processing.

The gearbox is one of the core components of the tracked vehicle. In order to accurately describe the internal coupling characteristics during the operation of the gearbox, based on the establishment of the multi-rigid model of the gearbox, the box, the drive shaft and the bearing are flexibly, the gearbox rigid-flexible coupling dynamics simulation model is established. Taking a practical working condition as an example, the variation law of the dynamic meshing force of the gear pair in rigid mode and rigid-flexible coupling mode is compared and analyzed, and the time-frequency domain curves of the load characteristics of each drive shaft and the surface acceleration of the box are obtained. By using the bench test, the accuracy of the gearbox rigid-flexible coupling model is verified. The simulation process and results provide a model and theoretical basis for the study of gearbox condition monitoring and fault diagnosis for subsequent tracked vehicles.

The sources of the harmonic gear reducer gap clearance are complicated, the gap clearance is the main factor affecting the operation accuracy of the mechanism. According to the work principle of the harmonic gear reducer, the main factors causing the gap are the torsional deformation of the parts(the flexible wheel and output shaft), and the clearance between the rigid and flexible wheels, and the radial clearance of the flexible bearing. Secondly, using the theory of involute, material mechanics, stiffness and so on, the mathematical model of the gap clearance and above factors is established. Finally, a gap-free test of one kind of harmonic gear reducer is carried out, the measured results are in good agreement with the theoretical calculation.

The key technology and method of RV Reducer digital design by using C# language and Solid-Works secondary development technology are introduced. Through in-depth study of the parameterization process of the RV reducer, the digitization process from the input of the overall target parameters to the specific parameters of the parts is realized. A CAD system platform for RV reducer parameter optimization design is developed, and combined with the database, the management of part parameters is realized.

Aiming at the calculation problem of straight bevel gear meshing stiffness,to convert the tooth to tooth width of midpoint equivalent straight tooth cylindrical gear,then the equivalent of the gear tooth is simplified to the cantilever beam on the dedendum circle,through the energy method,the single tooth meshing stiffness is calculated the analyzed. Based on the principle of displacement tolerance further gear time-varying meshing stiffness calculation model is put forward. Compared with the finite element results,and the source of the error is analyzed,the verification of the calculation method is completed. The proposed calculation method not only enriches and develops the calculation theory of gear stiffness,but also has important significance to the study of gear dynamics.

After years of service, the single strand chain transmission escalator has serious wear and aging, and has great safety hazards. It has also failed to meet the latest national mandatory inspection standards. It is economical and effective to change the single strand chain drive to double strand chain. Taking the reconstruction of 8 escalators in Jinan Guihe Shopping Center as an example, the design method and reconstruction technology of double strand chain transmission of escalator is elaborated. According to the working conditions and performance requirements of the escalator, the design and calculation of the double strand chain transmission system are carried out, especially the calculation and verification of the size of the large and small chain wheel, and the structural design of the wheel is carried out. The field application proves the correctness and feasibility of the proposed double strand chain design method and construction technology, which can provide reference for other similar escalator reconstruction projects.

The supporting stiffness analysis of the eight-cable 6-DOF cable-driven parallel robot is conducted, and the force/position hybrid control is carried out on this basis.Firstly, the cable-driven parallel robot is described systematically.Secondly, a kinematic analysis is conducted according to the principle of vector closure.The force of the mobile platform is analysed, and the static equilibrium equation is derived by Newtonian mechanics.After that, the relationship between the load change and the position change is described by the stiffness matrix in the operational space, the analytical expression of the supporting stiffness is deduced, and the influencing factors of supporting stiffness are analysed.Moreover, the factors of system stiffness, mobile platform posture accuracy and force control stability are considered, integrating the force/position hybrid controller.The simulation results show that the position error of the mobile platform is effectively reduced by the force/position hybrid control strategy, which is designed based on the stiffness analysis.Finally, the accuracy and effectiveness of the stiffness model and the force/position hybrid control strategy are verified by experiments.

In Variational Mode Decomposition(VMD),k belongs to the custom variable, the decomposition result will be different with the change of k, k directly affects the accuracy of the result, which too large or too small will affect the results. Basis on the question above, a method of determining k by kurtosis is proposed. Selecting an integer value of k between 2 and n, every k kurtosis of the maximum correlation coefficient is calculated, and the variation curve of kurtosis is plotted. If the kurtosis of the curve has no peak and monotonically increases, calculating the kurtosis of k is n+1, repeat the steps above. The maximum kurtosis is used as the criterion of optimization, when the kurtosis is maximum, the k is the best. The feasibility of the method is verified by the actual fault signal, a new thinking of the research for VMD is proposed.

In order to investigate the load-sharing performance of the 2K-H planetary gear transmission system, a translation-torsion coupling dynamics model is established with considering the nonlinear factors of time-varying meshing stiffness and the overall meshing error and so on, the dimensionless differential equations with 18 degrees of freedom of the system are deduced in this model. By solving the differential equations, the influences of the support stiffness of the center component and the clearance floating on the load-sharing performance of the planetary gear train are analyzed. It is shown that the floating amount of the component increases with the reduction of the support stiffness of the center component and the increase of the clearance of the shaft hole within a certain range, the load-sharing factor of the system decreases when the floating amount of the component increases.

In order to study the control strategy of active mode switching for single shaft parallel hybrid electric vehicles based on identification of road gradient, the numerical model of hybrid electric vehicle and road gradient model are built on the Matlab. On the basis of road gradient identification, the speed and demand torque of hybrid electric power system at the next time are predicted by the simulation model. The working mode of hybrid electric vehicle is determined according to the required torque and the SOC of the battery at the current time and the next time. On the basis of determining the working mode first, taking the minimum fuel consumption as the objective function, the optimal torque allocation is carried out in real time with dynamic programming algorithm. On the premise of economy, the hybrid power system can achieve the shift gear at the uphill moment to meet the needs of driver's power performance and drivability.

Clearance joint and connecting rod flexibility are main factors that affect the dynamics performance of mechanism,which determine the reliability of mechanism operation.Crank and connecting rod mechanism as the object,the Lagrange multiplier method is used to establish the dynamics model of coupling connecting rod joint clearance and connecting rod flexible action.On this basis,the influence of clearance size,connecting rod flexibility and their coupling on the mechanism dynamics output response is systematically studied. The results show that,within the same cycle,the collisions are mainly concentrated in the early stage of the campaign close to the two sides of the crank,the connecting rod clearance increases,the collision between articulated components intensify,the oscillation amplitude of impact force and the embedding depth of increase obviously,and the stability of the axis trajectory is reduced,and the appropriate component flexible processing can reduce collisions caused by clearance joint.

The development course of gear manufacturing technology is reviewed, the characteristics of three generation manufacturing technology are compared, the advancement of‘no stress concentration’anti-fa-tigue manufacturing is interpreted. The development situation, advanced technology and its mechanical property of three kinds of gear surface hardening precision heat treatment as key basic technology are discussed including carburization, nitriding and induction quenching. By optimizing and controlling the hardness gradient, residual stress field, micro structure and distortion of surface metamorphic layer, the innovation and development of gear precision heat treatment, the gear anti-fatigue performance is greatly improved, and then solve the three major problems of gears such as heavyweight, short life and low reliability. The development trend of gear antifatigue precision heat treatment is predicted to be‘super hardening’, deep case hardening',‘combined hardening’, and‘vacuum ion heat treatment’.

In response to the design requirements of miniaturization,lightweight and high resonance frequency of the flexspline,the inner diameter,aspect ratio,thickness-diameter ratio and tooth width coefficient of the flexspline are used as research variables.Based on the finite element Ansys,the response surface method parameter optimization analysis is used to explore the influence of the changes of each parameter on the natural frequency of the flexspline. The results show that,in the design process of the flexspline miniaturization,the decrease of the inner diameter and the aspect ratio of the flexspline will increase its natural frequency,and the decrease of the thickness-diameter ratio and the tooth width coefficient will increase its natural frequency,but its natural frequency is greater than the working excitation frequency of the reducer,and resonance will not occur to affect normal operation.

In order to realize the accurate and fast grasping of the target object by the manipulator in the complex environment, a multi-population ant colony algorithm is proposed.Firstly, a mathematical model is established and analy zed by using the kinematics method of manipulator. Then, the angles of the manipulator is adjusted according to the objective function to achieve the global optimization. Finally, through simulation experiment, compared with the present algorithm of path planning of manipulator, the simulation results show that the algorithm has more performance advantages in grasping time and accuracy.

Honing has become an important method of gear finishing. It is of great significance to study the honing mechanism and accurately grasp the influence of honing speed and particle size on the roughness of the tooth surface in order to improve the surface quality of the machined gear. According to the characteristics of strong honing of inner gear honing gear, through the analysis of the relative motion of inner gear honing gear and workpiece, the linear velocity equation of each point on the surface of inner gear honing gear and machined workpiece is established. Based on the actual machining parameters, the classical grinding theory is applied to predict the roughness of honing workpiece, to explore the variation of roughness at different tooth heights on tooth surface, and to use three-dimensional morphology. The surface roughness of the gear of the internal meshing honing workpiece is measured, and the roughness prediction results and the measurement results are compared and analyzed. The results verify the law, which is of great significance to improve the honing quality.