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Assembly accuracy is the guarantee of mechanical product performance, and the characterization of the part with geometrical deviations is the basis of assembly accuracy analysis.

The existed small displacement torsors (SDT) model cannot fully describe the part with multiple mating surfaces, which increases the difficulty of accuracy analysis. This paper proposed an integrated characterization method for accuracy analysis. By analyzing the internal coupling relationship of the different geometrical deviations in a single part, the Monomer Model was established.

The effectiveness of the Monomer Model is verified through an analysis of a simulated rotor assembly analysis, and the corresponding accuracy analysis method based on the model reasonably predicts the assembly deviation of the rotor.

The Monomer Model realizes the reverse calculation of assembly deformation for the first time, which can be used to identify the weak links that affect the assembly accuracy, thus support the accuracy improvement in the re-assembly stage.

The purpose of this paper is to solve the problem that mobile robots are still based on reactive collision avoidance in unknown dynamic environments leading to a lack of interaction with obstacles and limiting the comprehensive performance of mobile robots. A dynamic window approach with multiple interaction strategies (DWA-MIS) is proposed to solve this problem.

The algorithm firstly classifies the moving obstacle movement intention, based on which a rule function is designed to incorporate positive incentives to motivate the robot to make correct avoidance actions. Then, the evaluation mechanism is improved by considering the time cost and future information of the environment to increase the motion states. Finally, the optimal objective function is designed based on genetic algorithm to adapt to different environments with time-varying multiparameter optimization.

Faced with obstacles in different states, the mobile robot can choose a suitable interaction strategy, which solves the limitations of the original DWA evaluation function and avoids the defects of reactive collision avoidance. Simulation results show that the algorithm can efficiently adapt to unknown dynamic environments, has less path length and iterations and has a high comprehensive performance.

A DWA-MIS is proposed, which increases the interaction capability between mobile robots and obstacles by improving the evaluation function mechanism and broadens the navigation strategy of DWA at a lower computational cost. After real machine verification, the algorithm has a high comprehensive performance based on real environment and provides a new idea for local path planning methods.