The main distribution frame (MDF) is an important component between the user and the operator that supplies a telecommunication service and is the only layer in the seven-layer communication architecture that is not fully automated. In this paper, a cross-connect method for simulating the rapier picking of a rapier loom (shuttleless loom) is proposed to imitate the shedding and the picking action to achieve quick switching. Using the designed “shedding device” and “picking device”, a model prototype of the automatic optical distribution frame (AODF) was constructed and tested for verification.

This paper proposes a variable stiffness joint based on a symmetrical crank slider mechanism (SCM-VSJ). Firstly, the mechanical design and the working principle of the variable stiffness joint is described, and its stiffness regulation characteristics are studied. Secondly, the dynamical model of variable stiffness joint including joint motor, harmonic reducer and stiffness adjustment motor is established, in addition, the transmission mechanism of the crank slider mechanism and the elastic deformation of the spring bar are considered in the dynamic modeling. Finally, in order to control the dynamic stiffness of the variable stiffness joint in real time, a kind of improved PID (proportional-integral-derivative) control algorithm based on feed-forward and feedback closed-loop is proposed on the basis of the existing dynamical model, and the simulation analysis of real-time tracking control of dynamic stiffness for sinusoidal wave expected stiffness signal and random expected stiffness signal is carried out respectively. The research shows that the real-time stiffness control of SCM-VSJ can be realized effectively, and during the stiffness adjustment process, the output torque of the stiffness adjustment motor will be affected by the elastic deformation of the spring bar.

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