Actuator is the key to vehicle active suspension. Based on the analyses of traditional passive suspension and active suspension system, a novel vehicle active suspension with Electro-Hydrostatic Actuator (EHA) is put forward. The system consists of two parts: spring and actuator with variable control force. The actuator is made up of hydraulic cylinder, hydraulic pump, controller and BLDCM. According to bond graph principles, bond graph model of 2 DOF passive suspensions and bond graph model of EHA active suspension are built. Moreover, fuzzy logic controller is designed and fuzzy control active suspension is simulated using MATLAB tools. The prototype and test rig of EHA active suspension are developed and bench tests are carried out. The simulation and experimental results show that fuzzy control active suspension with EHA provides better ride comfort, handling and stability than passive suspension.

A multiresolution approach is presented for NURBS curve fairing based on nonuniform semiorthogonal B-spline wavelets built. This method provides greater flexibility and applicability than uniform B-spline wavelets for multiresolution curve fairing. An example is presented to validate effectiveness of this multiresolution fairing method. Furthermore, the algorithm can be easily applied to NURBS curves in three dimensions as well as in two.

The volume of workspace is one of the most important parameters to evaluate the flexibility of a robot. Monte Carlo Method and adaptive-divided mesh method were applied to analyze the workspace of the manipulator of a explosive-handling robot in mine. Firstly, the kinematical model of the manipulator was taken forward based on its main structure. Then, its kinematics analysis was given. Based on them, the manipulator’s workspace was analyzed by Monte Carlo Method and the cloud picture was completed. At last, the ‘Adaptive-divided Mesh Method’ was brought forward and the volume of the workspace was calculated with it. The result shows that the workspace’s volume is large enough and the working points in the workspace of the explosive-handling manipulator were distributed compactly and uniformly, which can satisfy the requirements with high efficiency.

Actuator is a very important part of vehicle active control suspension. Based on the analyses of traditional passive suspension and active suspension system, a novel vehicle active suspension with Electro-Hydrostatic Actuator (EHA) is put forward. The system consists of two parts: spring and actuator with variable control force. The actuator includes hydraulic cylinder, hydraulic pump, controller, etc. According to bond graph principle, bond graph model of EHA active suspension are built. In addition, sky-hook controller and fuzzy logic controller are designed and sky-hook control and fuzzy control active suspension are simulated using MATLAB tools. The prototype and test rig of EHA active suspension are developed and bench tests are carried out. The simulation and experimental results show that sky-hook control and fuzzy control active suspension with EHA provide better ride comfort and stability than passive suspension system.

A new vehicle active suspension with Electro-Hydrostatic Actuator (EHA) is suggested. The system consists of two parts: spring and actuator with variable control force. The actuator includes hydraulic cylinder, hydraulic pump, controller, etc. According to bond graph principle, bond graph model of EHA active suspension are built. For vehicle active suspension system, unavoidable time delay may appear in the controllable course. Time-delay influence on the dynamic performance of vehicle active suspension is analyzed. Physical prototype and experimental rig for EHA active suspension is built. Then the tests of suspension prototype with time-delay control are carried out on the developed test rig. The results show that the sprung mass acceleration of the active suspension with time-delay compensation significantly declines by 11.56% under the road input of 1.1Hz and by 12.8% under the road input of 1.5Hz