A new four-point algorithm for orientation and position regulation of an end-effector for a flexible drilling robot is presented in this paper．Four non-coplanar points in three-dimensional space can determine a unique sphere tangent to them, we can find out this sphere’s center point and radii and regard the shape of a workpiece surface in machining area approximately as such a sphere. A vector from the machining point to the center point is regarded as the one normal to the workpiece surface. By this principle, the algorithm firstly measured and calculated a vector normal to drilling machining area on curved surface by four points，and then calculated the difference between this normal vector and the axis of the spindle. If there is difference, the algorithm further figures out the angles of two revolving axes on end-effector and the displacements of three linear axes on robot main body, which should be adjusted．Simulation results of two kinds of curved surface show that the accuracy and efficiency satisfy the practical requirements using this algorithm．

A new 2-DOFs dynamic turning model including the compliance of workpiece and cutting tool is developed. In past studies, most of them were based on SDOF models and either the workpiece or tool was simplified as rigid one. Meanwhile, traditional regenerative chatter models focus mainly on cross cutting which was particularly prone to chatter. It is evident that such models cannot descript cutting system comprehensively. In order to tackle this problem, we introduce the overlap factor making the new model also suitable for length-wise cutting. Stability was analyzed after performing the Laplace transformation, correlation between critical chip width and spindle speed was derived. Simulation suggests that the new model has a larger critical chip width which complies with practical situation.

This paper implements embedded PLC programming control system for CNC forging equipment. The control system is based on Windows XP platform, using Visual Studio integrated development environment. The PC programming features include function block (FB), ladder diagram (LD) and instruction list (IL) language. And this paper elaborates the data structure of three kinds of programming languages and implements the loading process of program. After experimental verification, the control system realized the programming control system for users, and provided a good foundation for further explanation of the follow-up program.

This paper investigates the feasibility of adaptive impedance control scheme for compliant gripper. A compliant gripper was designed for manipulation tasks requiring precision position and force control. The gripper is actuated by tendon-sheath transmission system and use strain gages to measure both the displacement and gripping force. Position based impedance control is used to control the contact force to made the gripper more compliantly. Due to the nonlinear of the structure; it is difficult to establish the mathematic model and kinematical equations. Therefore, combine model reference adaptive control strategy with impedance control to realize the soft control of the compliant gripper.

In the field of space expansion, in order to save the cost of launching, save the launch vehicle payload space, need small size, light weight, high precision, high storage rate of deployable mechanism. Strip self-assemble principle can be an opening mechanism which has the advantages of light weight, high precision, high rate of transmission characteristics. This mechanism takes the form of screw drive, it can transform the flexible steel band to rigid thin wall tube and unfold the rigid thin wall tube into flexible steel band. Realize the function of telescopic by controlling the conversion between flexible steel band and rigid thin wall tube.