With the wide application of multi-layer and multi-pass welding in industry, the traditional manual welding method is difficult to meet the needs of manufacture. Welding Robot has the advantages of stable productivity, ensuring welding quality even in special environment, so the welding robots are used at a growing trend in manufacturing fields to complete different welding tasks. In this paper, an intelligence learning method for welding robot is designed, aiming at the prediction of welding process parameters and bead geometry parameters in the welding process, deep and machine learning algorithms are used for realization. It provides an instruction for the design of process parameters to realize the intellectualization and automation of welding robot. The experimental results show that automatic parameters learning based on machine learning are effective and different learning methods should be selected for different process parameter prediction tasks in order to achieve the best prediction effect.

Combining the traditional Chinese-medicine theory and the modern robot technology, a new type of massage robot that can accurately locate the acupuncture points and implement the acupuncture point-matching treaatment has been proposed. A serial-parallel mechanism is adopted as the main mechanism of the massage robot that has the merits of not only compact structure and dexterous movement, but also realization of the motion decoupling from the force control of the massage mechanism. Based on the introduction of the foot massage robot system and its function, both the analysis of the mechanism and the optimal design have been completed to meet the design requirements. The kinematics model has been established. The simulation and experimental research have been carried out and verified the rationality of the design and the feasibility of the scheme.

One-pot process for preparation ferrocenylethene derivatives by solvent-free Wittig Reaction of ferrocenecarboxaldehyde, alcohol, triphenylphosphonium bromide, and NaOH without the synthesis of phosphorus ylides was reported. The ferrocenylethene products obtained had an 80% yield with NaOH as the base at room temperature for 30 to 90 minutes.

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