To address the problem that pure rolling bevel gears are prone to angular velocity mutation, vibration, and noise excitation under the influence of mounting errors, a tooth surface design method with low sensitivity to mounting errors was proposed.

Firstly, based on the influence of installation errors on angular velocity, the transmission error curve was preset as a parabolic type. Secondly, the theoretical tooth surface of the pinion was modified using the preset transmission error curve to establish a mathematical model of the target tooth surface. Finally, a 3D solid model of the modified bevel gear was constructed, and tooth contact analysis was performed.

The results show that the derived transmission error curve is consistent with the preset curve, validating the effectiveness of the modification. The actual meshing points of the optimized tooth surface deviate from the edges, and the overall contact area centers on the tooth surface, effectively avoiding edge contact and stress concentration.

To solve the problem of no direct mechanical or hydraulic connection between the brake actuator and the brake pedal in an electronic mechanical braking system, leading to no feedback of road feel, a brake pedal feeling simulator was proposed based on magnetorheological dampers.

Ansys/Maxwell and Matlab/Simulink were used as the platform. The structural design of the sinking brake pedal feeling simulator, the structural design of magnetorheological damper, magnetic circuit analysis and electromagnetic simulation were carried out respectively, and the simulation analysis of traditional proportional-integral-derivative (PID) and fuzzy adaptive PID control under different working conditions of the whole system was compared.

The simulation results show that the brake pedal feeling simulator can track the characteristic curve of the traditional pedal well under different working conditions and has wide applicability. Compared with the traditional PID control effect, the fuzzy adaptive PID control has higher control precision and smaller control error, and has good application prospects.

To address the core problems of traditional magnetic tile-type magnetic wheels in the application of boiler wall-climbing robots, such as unclear magnetic field distribution, redundant safety factors of empirical formulas, low magnet utilization rate, and excessive weight, a magnetic tile arrangement scheme was identified with better magnetic attraction in the N-S alternating arrangement under the same volume and mass constraints. The differences in magnetic field distribution and magnetic attraction force magnitude when the magnetic wheel pressed against three versus two boiler water-cooled wall tubes were also clarified.

Taking a water-cooled wall inspection robot for thermal power plant boilers as an example, four magnetic wheel models with the same external dimensions but different magnet arrangement modes were established. Using Maxwell software, simulation analysis of the magnetic attraction force of these four magnetic wheels with different structures was conducted at a distance of 2 mm from the water-cooled wall tubes.

The results show that the adsorption force of the magnetic wheel on the water-cooled wall tube is 5%-20% greater when adsorbed at the joint of the magnetic tiles than at the middle of the magnetic tiles. When adsorbed at the middle of the magnetic tiles, regardless of whether the magnetic wheel presses against three or two wall tubes, the magnetic wheel with the 4-magnetic-tile arrangement exhibits the maximum attraction. Additionally, the adsorption force when pressing against three water-cooled wall tubes is approximately 10%-20% greater than that when pressing against two tubes.

Aiming at the problems of unbalanced magnetic pull (UMP) and low structural strength of high-speed rotor in the operation of permanent magnet assisted magnetic gear, relevant research was conducted.

Firstly, the phase tuning method was used to study the influence of different transmission ratios on the UMP. Then, according to the structural characteristics for the high-speed permanent magnet rotor of the magnetic gear, the analytical solution of the rotor strength was obtained by using the equivalent mass ring method. Finally, taking reducing the maximum stress and ensuring a certain output torque as the optimization objectives, the multi-objective optimization was performed on the relevant parameters of the magnetic isolation bridge and magnetic barrier.

The analysis results indicate that a transmission ratio where the maximum common divisor of the number of magnetic blocks and the number of poles of the low-speed rotor G_{\mathrm{C}\mathrm{D}}=\mathrm{2} can effectively decrease UMP. The relative error between the analytical solution of the maximum stress obtained from the equivalent mass ring method and the result of finite element simulation is less than or equal to 1%, validating the accuracy of the analytical method. Through the optimized design, the maximum stress on the rotor is significantly reduced.

The risks of losing magnetism upon power-off and high energy consumption are suffered by traditional electromagnetic grippers. And the problem of lacking the active magnetic force regulation function is still faced by permanent magnegrippers. A lightweight magnetic pole rotation gripper with optimized methodology was developed.

Based on the magnetic flux continuity principle and magnetic field superposition effect, the optimal design strategy integrating theoretical analysis, numerical simulation, and test verification was established through coordinated regulation of three key parameters: magnetic pole rotation angle, geometric dimensions, and air gap distance. The global optimal solution of the magnetic pole structural parameters was finally obtained.

Both simulation and test results demonstrate that the optimized gripper achieves superior magnetic adhesion performance per unit mass compared to existing models. The proposed device exhibits distinctive advantages including compact structure, simplified control mechanism, and quasi-linear control characteristics, showing broad application potential in material handling operations.

For slotted disk magnetic couplers, the slotted conductor disk complicates the magnetic circuit during operation, increasing the difficulty of calculating electromagnetic torque. A reliable electromagnetic torque prediction model was established, and its torque characteristics were studied.

A 18-pole 16-slot disk magnetic coupler was studied. Firstly, via the equivalent magnetic circuit method, induced eddy currents from adjacent and self-magnetic circuits were introduced as a branch into a new model. Considering 3D end effects and combining Ampere's and Kirchhoff's laws, air gap flux and output torque expressions were derived. Secondly, the coupler was simulated and analyzed by the finite element simulation software, obtaining distributions of air gap magnetic field and eddy currents, and torque variations with air gap thickness and speed difference under adjacent eddy current influence. Finally, a test platform was established to verify theoretical and simulation results.

The results show that the results of theoretical calculation, finite element simulation and test are basically consistent. The proposed theoretical model has high accuracy, providing a reliable prediction model for studying the torque performance of such couplers.

The industrial robot industry has put forward higher requirements for RV reducers, and the precision life reflects the ability of the reducer to maintain transmission accuracy, which is one of the most important design criteria and usage indicators. To improve the precision performance of precision reducers, it is crucial to evaluate their reliability. Therefore, the degradation characteristics of precision reducers were analyzed.

Taking the RV80E reducer as an example, a random degradation model based on Gamma process was proposed. Combined with the performance degradation data of the reducer transmission accuracy, the model parameters were estimated based on the matrix method and the maximum likelihood estimation method. A Gaussian process regression model optimized by genetic algorithm was established using vibration characteristic data to optimize the prediction of transmission accuracy.

The results show that the prediction accuracy based on Gaussian process regression model is significantly better than that of the traditional regression model. The posterior distribution parameters of the random degradation model are updated by using the algorithm to predict the results, which can effectively evaluate the reliability of the accuracy life of RV reducer and lay the foundation for further reliability optimization design of accuracy life.

To address the longitudinal vibration of long-distance belt conveyors during starting, the dynamic equations of the belt conveyor were established based on the analysis of the viscoelastic properties of the conveyor belt. Taking a practical long-distance belt conveyor as an example, a dynamic simulation model was constructed using AMESim software to study the starting acceleration curve and loading time.

The effects of common starting curves on the dynamic tension of the conveyor belt were analyzed, and a new combined starting curve (sine+parabolic) was proposed. The curve was optimized by introducing a creep phase and adjusting the pre-starting speed. The tension variations under different loading times were then analyzed.

The results show that the optimized sine and parabolic starting curve reduces the maximum tension of the conveyor belt by 5.8% compared with the commonly used sine acceleration curve. Furthermore, loading materials after stable operation effectively reduces the tension impact and extends the service life of the conveyor belt.

The pipe belt conveyors are crucial equipment for bulk material transportation with significant environmental advantages. This study is aimed to quantify the lateral bending stiffness of steel cord conveyor belts.

Based on the analysis of standard ISO 703:2017, the measurement and analysis method for the lateral bending stiffness was determined. Numerical model and 3D simulation model of the steel cord conveyor belt were established. Deformation data under different schemes was obtained using numerical analysis method and finite element method. Error analysis was conducted to demonstrate the validity of the models. Furthermore, a generalized deflection formula for the lateral bending stiffness was derived based on the functional dependence of the belt's troughability on elastic modulus, linear mass, and cross-sectional geometric parameters.

The results provide a new perspective for quantifying the lateral bending stiffness of pipe conveyor belts and offer a basis for their design and engineering practice.

To address the issues of crawling and poor motion stability in low-speed and heavy-duty conveyor chain transmissions, a dynamic model of the above conveyor chain transmissions was established based on multi-body dynamic theory, and the research on dynamic characteristics was carried out, aiming to provide guidance for enhancing the stability of such conveyor chain transmission systems.

By considering the structural characteristics of low-speed and heavy-duty conveyor chain transmission systems and the effects of conveying loads, the mechanical properties of the conveyor chain nodes were simulated using Hooke’s law, and a dynamic model with 107 degrees of freedom of the conveyor chain was constructed. The modal superposition method was adopted to solve the dynamic model, the dynamic characteristics of the low-speed and heavy-load conveyor chain were obtained, and the influence laws of the slack side sag and the tight side friction force of the conveyor chain on the transmission speed variation were studied.

The results show that reducing the slack side sag and decreasing the friction coefficient between the conveyor and the guide rail can effectively reduce the occurrence of the crawling phenomenon in conveyor chain transmission and improve the motion stability of the conveyor chain transmission systems.