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.

Curve fairing has an important influence on curve editing and geometric modeling. Though there has been several different kinds of fairing methods, Multiresolution curve fairing has higher efficiency and simpler algorithms. Different from existing multiresolution curve fairing, a new multiresolution approach is presented based on non-uniform semiorthogonal B-spline wavelets, which can be applied for NURBS curve fairing. It has no restriction to B-spline curves’ knot sequence. This method effectively overcomes the limit of uniform or quasi-uniform B-spline wavelets for fairing. A detailed example is given to show the effectiveness of this multiresolution fairing method.

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.

Obstacle negotiation capability is important to a mobile robot. A wheel-legged robot with symmetrical structure was presented It has four independent wheel-legged articulations which can generate a series of conFigureurations to improve its trafficability. The obstacle negotiation capability of the robot was studied. Its step-climbing process was described, and the geometrical and dynamic model for the process was built. Based on comprehensively considering geometrical and dynamic constraints, the method to work out the maximal step height that the robot can get across was brought forward. Then the method to work out the maximal slope angle was also provided. Finally the experiment to verify the above methods was done. The research mentioned above would provide a theoretical foundation to improve the robot’s adaptability in complicated environments.

Integrating the merits of wheeled and tracked mechanism, a robot’s mobile mechanism may have more adaptability in field environments. A kind of metamorphic mechanism with three configurations was proposed, which configuration transformation was analyzed and metamorphic equations on configuration transformations were put forward. Based on them, a wheel-tracked robot’s mobile mechanism was brought forward. The key component of the structure, locomotion-mode-changing unit, was synthesized. The robot’s prototype was made and the principle test was finished. The result shows that the built prototype can run by wheels or tracks, and transform itself successfully.