In order to realize stable tracking under bumpy environment, the robot bionic eye constructed by spherical parallel mechanism with 3 DOF is designed based on the characteristics of human being’s eyes. ANSYS and ADAMS are utilized to conduct modal and kinematics property analysis respectively. According to the result of ANSYS modal analysis, the structure highly meets the demands of function and reliability, which lays the foundation for optimization and bump-resistance design. Through ADAMS kinematics analysis, displacement, velocity and acceleration curves of mechanism end effector were obtained, which provides reference for motion control and optimization design.

Abstract.A kind of egg tray automatic loading and unloading machine is designed for the high strength and low efficiency of egg tray loading and unloading in the egg candling process. Through the analysis of egg tray loading and unloading process, the automatic loading and unloading process of the egg tray is determined. Imitating manual handling, egg tray automatic loading and unloading machine is composed of lifting mechanism and scissors type combination mechanism. The lifting mechanism completes the positioning of the egg tray and the scissors type combination mechanism completes the delivery of the egg tray. The prototype was designed and tested, and the result shows that the unloading efficiency reached 122 trays/h, and the average time of single tray leaving the incubator was 29s. So the automatic loading and unloading machine of the egg tray improves the automation degree of the incubation industry, reduces the labor intensity, improves the detection efficiency of the egg, and shortens the time that the embryo egg leaves the incubator.