During precise hard cutting, back cutting depth and feed rate are relatively small. Study on the influence of PCBN (Polycrystalline Cubic Boron Nitride) cutting tools edge (chamfer edge or cutting edge radius) on cutting force is important. As the effect of cutting edge on mechanism of shear slip plane is very complicated, so to study the effect of consider cutting edge parameters and cutting parameters by genetic algorithm on cutting force, to build up cutting force model of precise hard cutting. It is feasible to predict cutting force by genetic algorithm with experiment.

A crab-like octopod robot is introduced in this paper. The body structure of the robot is simuliar with a real crab. Each leg has three jionts which are driven by servomotors. The control system is a distributed hierarchical system with a top layer as gait generator and a bottom layer as servomotor controller. The bottom layer has enght individual control units every of which can control three servomotors using PID control method. The sensor systerm is composed of force sensors mounted at the end of the leg and a inclinometer provides pitch and roll angles of the body.

A design process of PMT virtual conceptual design is put forward, and a design platform of PKM virtual prototype is developed based on ADAMS; By analyzing topological structure and classifying the functional module of the existing PMTs, a modular component base are built. The management of component base and virtual assembly of PMT are realized. A method to analyze kinematic properties of parallel mechanism is introduced by taking screw theory as guidance and taking virtual prototype technology as verifying tool. With the method, DOFs of parallel mechanism are vividly depicted and rationalities of actuation scheme are judged.