Original scientific paper Reducing the manufacturing time is the trend of high precision manufacturing, and the precision of a work-piece is very important for the manufacturing industry. The high-speed motorized spindle is the most critical part and becoming more widely used in the machine tool at present, and its precision may affect the overall performance of high-speed cutting. Most of the studies on high-speed cutting are focused on the cutting force, the vibration of the spindle and effects of the spindle's thermal deformations; hence, how to roundly measure and objectively evaluate a high-speed spindle is an inevitable question. Because the comprehensive dynamic properties and evaluation system of spindles directly affect the cutting ability of the whole machine tool before they are manufactured. This paper presents a comprehensive measurement and evaluation system of a high-speed motorized spindle, which reflect the overall performance of motorized spindle and bases on an international standard Sveobuhvatno mjerenje i evaluacija sustava visokobrzinskog pogonskog vretenaIzvornoznanstveni članak Smanjenje proizvodnog vremena tendencija je u visoko preciznoj proizvodnji, pri čemu je preciznost radnog komada vrlo važna u proizvodnoj industriji. Pri tome je visokobrzinsko pogonsko vreteno jedan od najkritičnijih dijelova koji se naširoko koristi u alatnim strojevima, pa njegova preciznost predstavlja važnog čimbenika u sveukupnoj izvedbi visokobrzinskog rezanja. Mnoge studije o visokobrzinskom rezanju su fokusirane na sile rezanja, vibraciju vretena kao i na efekte toplinske deformacije vretena; stoga, kako propisno mjeriti i objektivno evaluirati visokobrzinsko vreteno jedno je od neizbježnih pitanja. Jer sveobuhvatna dinamička svojstva i evaluacija sustava vretena izravno utječu na rezna svojstva cjelokupnog alatnog stroja, prije no što je proizveden. Ovaj rad prikazuje sveobuhvatno mjerenje i evaluaciju visokobrzinskog pogonskog vretena, koja se odražavaju na sveukupne odlike pogonskog vretena, a koja se bazirana na međunarodnim standardima.

Teeth matching conditions for planetary mechanism of single pin, dual pin and multiple pin planetary mechanisms are studied in details in this thesis. Single planetary mechanism teeth matching conditions include: concentric condition, homogeneity distribution condition, neighbor condition and gear ratio condition. With the increase of meshed gear pairs between sun gear and gear ring, the concentric condition will become wider and wider, while neighbor condition become stricter and stricter. Gear ratio condition is applied to check the deviation of actual and theoretical gear ratio of planetary mechanism under the teeth matching condition. If the deviation is large, adjustment could be made by revising structural parameters and number of planetary gear pairs participating in the meshing. Homogeneity distribution condition is most easily ignored, thus enough attention should be paid to it. In this thesis, the angle expression of planetary mechanism when each component is not interfered and homogeneously distributed is inputted its rotation speed equation, and after deduction, the homogeneity distribution condition is gained for various single planetary mechanisms, which will provide reference for engineers.

Flexible articulated manipulators are often used for the task of tracking reference trajectories in space and have attracted much attention. Aiming at the uncertainty of the robot system, based on random matrix and screw theory, this paper constructs a trajectory control model of a flexible joint manipulator. In order to reduce the steady-state tracking error, a random matrix variable structure control method is introduced into the model, and a nonlinear spinor-like random matrix function is designed to improve the traditional random matrix surface. In the simulation process, the dynamic model of the series robot is firstly obtained according to the screw and random matrix equation, and the dynamic characteristics are analyzed. Combined with dynamic surface control technology, a neural network controller is designed to solve the problem of dimensional explosion and ensure that the tracking error converges to a small neighborhood of zero. The experimental results show that by using the observation value to replace the unmeasurable state of the system, combining it with the random matrix network to identify the unknown dynamics of the system, and designing the random matrix network controller, the tracking control of the system can be realized, and the tracking error can be ensured to converge to a small neighborhood of zero. The control system has a better control effect than traditional PID, the peak time is shortened by 45.83%, the adjustment time is shortened by 46.91%, the maximum overshoot is reduced by 51.35%, and the steady-state error after filtering is only 0.049, which is reduced by 47.31%. Effective interference signal and measurement noise are suppressed, and the quantitative observation performance of the flexible joint manipulator system is improved.

Abstract-Using the finite element modal analysis technology, Noise, Vibration and Harshness (NVH) characteristics of car tires were analyzed. Through the establishment of finite element model of tire structure, the modal analysis and harmonic response analysis have been carried. From the the modal analysis results of tire structure, the wheel structure panel endured relatively strong local changes, the first three order modal natural frequency was the main causes of the pavement noise; the harmonic response analysis showed that the tire structure proned to resonance when the car tires was under 60 Hz frenquency. The tires forces were mainly concentrated in the tire lateral upper surface, tire deformation were mainly concentrated in the upper and lower part of tires, and easy to cause vibration and noise. Through the finite element study of the modal and harmonic response analysis of tire structure, we can better grasp the mechanism of vibration and noise, and guide the further design for the optimization tire to obtained the better NVH characteristics.