MiniQuad- II is a modular four-legged walking robot. In order to research dynamics and kinematics of the robot, based on inner relation of different simulation software, three-dimensional entity model of four-legged walking robot MiniQuad-II is built up with SOLIDWORKS software firstly. Then, the model is leaded in ADAMS software, dynamics and kinematics of the robot are simulated, the relevant process is described in this paper. As an example, the robot MiniQuad-II walking along straight line is investigated, the dynamics of the robot are analysed with ADAMS. Further, the influences on dynamics properties for the robot are discussed when structural parameters of the robot are changed. Results can be used to optimaze robot structure and determine its final characteristic parameter.

In order to reducing motors energy consumption, the problem about motion function, which has torque feature (AV) m small, is discussed in this paper. Conventional functions and small torque moment function are used to control mass center motion of robot ZQROT-I respectively. In the process of robot running the straight gait , motion performance of the robot is analyzed by ADAMS. Analysis result indicates that function controlling mass motion of robot with small torque feature has significant meaning for saving working energy of robot.

To be faced with the appearance and mechanical defects during refrigerator door making process, enterprises have no effective solutions. A springback prediction system is developed to accurately predict the springback of sheet metal and to improve die design. The main components, key theory and technique of this system are illustrated for the purpose of revealing co-relationship of springback and constitutive model and different parameters. It provides a powerful tool for cutting production cost and raising working efficiency. It is of great significence for engineers and enterprises.

Mining is a large-scale and highly complex misalignment system. The progressive damage and disorder development of the rock mass distort as well as the development that the rock mass evolution curve changes from the linear constant speed stage to the distortion stage which is accelerated by misalignment threaten the safety production in mines seriously. Therefore, the research on the rock mass distortion destroys plays an important part in guaranteeing the safety production in mines. This article elaborates the non-linear dynamics branch theory in detail, analyzes the branch phenomenon in slow change and stress-strain of rock mass according to its characteristics and advances the research procedure of the non-linear dynamics branch theory in mining. Moreover, it establishes the dynamic model according to the physical property of system and determines the stability of system using the branch theory.

Due to the function expansion of the robot with hand-foot-integration, the robot’s frame which is a original common motion platform turns to a mechanical grab platform with floating. The workspace calculation of the robot’s working arm is the prerequisite for the robot starting to grab the aim. In this paper, the calculation system of the robot’s workspace on fixed pose is introduced. The calculation of the robot’s total centroid position is described, the stability of the robot is analyzed and the relationship between the workspace of robot and the stability criterion is discussed. The calculation process of the workspace is given and a numerical example is illustrated. The System can be used for motion control of robot and provide the theory basis for realization of automatic grab.