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:20000508:(1969-),(),:100328728(2001)04205202021,1,2,3(1,116023;2,116034;3,116012):,,,,,:;;:TP391:A,,,[1],[2,3],[4],[5],,,,[6],,,,,,11,1,p(u),m(u),r(u,v)=p(u)+vm(u),,(p,m,m)=0,(),,,,,,,,,,2,,,(),,:,();,,2,l1,l2,l1Aa,l2Bb,2ABc,,(a,b,c)=0,AB,,,,,,2,AB,CD,EF,,,AB,CDAC,BD,ABAC,ACCD,CDBD,BDAB,,AC,BD,,,,20420017MECHANICALSCIENCEANDTECHNOLOGYVol.20No.4July2001©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(),,,,,(3)1;2,6;3;4,5;7;8,,,,,,121(mm)127.185190.307182.886171.513366.94589.806126.765187.065181.117170.603365.63287.2750.0030.0170.010.0050.0040.0282()öööööö91.76372.598104.15898.90983.40185.93291.95275.069104.16298.91083.39985.9330.0020.0340.000050.000010.000020.000014,,,,,,,,,,[][1]ParidaL,etal.Constraint2SatisfyingPlanarDevelopmentofComplexSurfaces[J].CAD,1993,25(4):225232[2]ShimadaT,etal.ApproximateTransformationofanArbitr2aryCurvedSurfacesintoaPlaneUsingDynamicProgram2ming[J].CAD,1991,23(2):153159[3]ShimadaT,etal.DevelopmentofCurvedSurfaceUsingFi2niteElementMethod[A].In:Computer2AidedOptimumDesignofStructures:RecentAdvauces[M].Springer-Ver2lag.1998,2330[4]ChakibBenic,etal.PiecewiseSurfaceFlatteningforNon2distortedTextureMapping[J].ACMComputerGraphics,1991,25(4):237246[5].[J].,1997,20(4):315322[6]OkabeH,etal.ThreeDimensionalApparelCADSystem[J].ComputerGraphics,1992,26(2):105110(519)5DSP,DSP,,,,DSP,FS602,,,[][1][M]..:,1993.[2].[J].,1999,21(1):7580[3].[M].:,1999[4]DSPandDSPproSeriesCProgrammingReference[R].Mot2ionEngineering,Inc.1999[5].[M].:,1997.1254:©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(1HarbinInstituteofTechnology,Harbin150001;2HarbinEngineeringUniversity,Harbin150001;3JiamusiUniversity,Jiamusi154007)P510Abstract:Therelationshipofefficiency,flowdirectionofmeshingpowerandmotionparameterofHclosedepicyclicgeartrainareresearched.Asimplemethodisdevelopedforjudgingflowdirectionofmeshingpoweraccordingtotransmittingratiosofepicyclicgeartrainandclosedtrans2mittingtrain,andtheverydifficultproblemofcalculatingefficiencyissolvedwiththemeshingpowermethod.Au2nifiedformulaisderivedforefficiencyofHclosedepicyclicgeartrain.Inaddition,self2lockingconditionsofgeartrainofthiskindarealsoanalyzed.KeyWords:Closedepicyclicgeartrain;Efficiency;Mesh2ingpower;Power2flow;DifferentialgeartrainParameterOptimizationofaNewTypeOerlikonGearMACheng2wen,ZOUHui2jun,ZHOUShuang2lin(ShanghaiJiaotongUniversity,Shanghai,200030)P513Abstract:TheprincipleofNon2ZeromodificationisadoptedtodesignOerlikongear.Itisnotaffectedbysev2erallimitsintraditionaldesignofequal2addendumteethspiralgear.Itcangetpeculiarpropertieswhichcannotbeobtainedintraditionalmethod.Programofoptimizationisdesignedtogetthebestparameter,Non2Zeromodifica2tioncanbeappliedtoallkindsofspiralbevelgear.ThistypeofOerlikongearhastheabilitytoresistwearingandpitting.ItisanapplicationofNon2Zeromodificationmethod.Keyword:Spiralbevelgear;Non2Zeromodification;Optimization;LimitSystemIdentificationofSmartMechanismsBasedonDy-namicRecurrentNeuralNetworksSONGYi2min1,YUYue2qing1,ZHANGCe2,MAWen2gui3(1BeijingPolytechnicUniversity,Beijing100022;2TianjinUniversity,Tianjin300072;3TianjinInstituteofTextileEngineering,Tianjin300160)P515Abstract:Inthispaper,thedynamicrecurrentneuralnet2work(DRNN)wasappliedtotheestimationofasmartmechanismfeaturingpiezoceramicactuatorsandstraingagesensors.Themathematicalmodelofa42layeredDRNNwaspresentedfirstly.Toguaranteeconvergence,afastlearningalgorithmVLRwasproposedfortheDRNNwhoselearningratecouldberegulatedadaptivelyinaccor2dancewithEquation(28).Moreover,thesuitabletopolo2gyoftheDRNNwasdeterminedutilizingthepruningalgo2rithmsoastoincreaseitsgeneralizationcapability.Onthebasisoftheseimprovements,aDRNNidentifierwasde2signedoff2linebymeansofthecompoundidentificationmethodshowninFigure3.AscanbeseenfromFigures4and5,theidentifierobtainedisprovedtobemoreaccuratethantheKEDtheoreticalmodelandmaybeusedforsup2pressingtheelastodynamicresponsesofflexiblelinkagemechanismswithresorttotheneuralnetworksbasedmod2elreferenceadaptivecontrol(MRAC)strategy.Keywords:Smartmechanisms;Vibrationcontrol;Neuralnetworks;SystemidentificationResearchonDSP-BasedRobotControlSystemLIUJian2qun1,HUANGHao2quan1,DUANZheng2cheng2,XIONGYou2lun2(1FoshanRobotCo.,Ltd.,Foshan528000;2HuazhongUniversityofScienceandTechnology,Wuhan430074)P518Abstract:Therobotcontrolsystemisoneofthekeycom2ponentsofarobot.Ithasgreateffectonthedevelopmentofrobots.Inthispaper,thedesignandimplementationoftherobotcontrolsystembasedonDSPareintroduced.Inaddition,thehardwarestructureofthesystemandtheDSP’sm