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This paper designs and develops a new type of frame-foot wall-climbing robot structure. According to the bionic principle, a new parallel telescopic leg structure is proposed, and the 3D design of the overall structure of the wall-climbing robot is completed. Secondly, the kinematics analysis of the robot is carried out, and the forward and inverse solution models of the leg structure position are completed to verify the feasibility of the leg structure stability. Based on the polynomial motion equations, the robot motion planning and gait design are established, and the speed and acceleration change graphs of the leg structure slider are obtained, which avoids the rigid impact between the parts, and realizes the alternate adsorption and continuous movement of the robot legs, which the rationality of the legs structure design and the stability of the movement are verified. Through simulation and experimental results, it is shown that during the robot’s movement, the leg structure can adjust the step distance and step height according to obstacles, so as to achieve the expected obstacle crossing goal. The leg structure is adjusted according to the working environment to ensure that the fuselage and the working surface are always kept parallel to improve the stability of the overall structure.

Considering the structure feature and working principle of Opposed Piston Opposed Cylinder engine, mathematical model of kinematics relationship for internal-external piston is build. Using ADAMS software to process kinematics characteristics simulation study and comparing the simulation results with traditional diesel engine, it indicate that the OPOC two-stroke engine has better self-balancing character, less kinematics inertial force and cylinder lateral pressure, and is helpful in reducing the frictional power consumption, and improving the noise-vibration smoothness.

The quality of elbow flowmeter is important to its application accuracy. This paper described the digital quality evaluating method for elbow flowmeter which based on the analysis of elbow flowmeter’s theory, construction, working condition, and fault characteristics. In the method, we applied the concept of static quality, dynamic quality and used quality index to show the quality condition of flowmeter precisely. The fuzzy math theory, finite element analysis technology and online detection technology were used in our method. The digital quality evaluation system can get more accurate testing values, more stable dynamic performance and faster fault diagnosing for flowmeter .