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In this paper, we develop a new type planar bending flexible joint adopting rubber tube and elastic constraint components. When supplied the air pressure, the joint can elongate in axial direction or bend arbitrarily in the planar. Experiments study on contrast of mechanical character of planar bending flexible joint in different restrained conditions are done on the static experimental device, and the influence of the structure of constraints ring on the elongation and the bending angle of the joint. The experiments show that the deformation of the joint with arc-shaped restraints ring significantly larger than the joint with cylindrical-shaped restraints ring.

To improve the transversal stability and lateral stiffness, this paper develops a new type of pneumatic single bending joint. When supplied the air pressure, the joint bends under the action of the bending moment generated at the end of the joint. The bending experiments have been done on the static experimental device and the relation between the bending angle of joint and the air pressure is acquired. The study of this paper laid the foundation for further application of the single bending joint.

To improve the transversal stability and lateral stiffness, this paper develops a new type of pneumatic single bending joint. The single bending joint is pneumatic composite elastomer, and its driving system combined into one. The inside of the joint is elastic rubber tube and the outside is a set of closely constraints ring suit. When supplied the air pressure, the joint bends under the action of the bending moment generated at the end of the joint. The bending experiments have been done on the static experimental device and the relation between the bending angle of joint and the air pressure is acquired.

This paper develops a new type of flexible finger employing the pneumatic flexible joints base on the modular design concept. In this work, the mathematical model of the grasping force of the flexible finger is derived and analyzed on the relationship between the air pressure and the grasping force. Further the grasping force experiments of finger using dynamometer and acquire the normal pressure of the finger with different combinations ventilation of joints are conducted, Also, the experimental results are compared with the theoretical results, which confirm the validity of the presented model.

This paper developed a new type of hexapod robot using self-developed flexible space bending joints which can not only move from side to side or back and forth but also rotate. Then the principle of the movement and the gait of the hexapod robot were investigated, the kinematics model on translational displacement and velocity was followed. Furthermore, the test bench and pneumatic control system were set up, and the displacement, velocity and acceleration of the center of were acquired by high-speed camera shooting means. Finally, the stability of the gravity center and the control method of the hexapod robot were studied. The research of this paper provides a theoretical and practical basis for the application of bionic hexapod robot.

Black liquor was processed with wet air oxidation technology in these experiments. Influence of its influent concentration was researched. COD, absorbance, turbidity and pH of the water samples were measured and analyzed. The results showed that: the treatment effect of each index in black liquor treatment with wet air oxidation method gradually weakened with the increase of influent concentration from the overall point of view; when papermaking black liquor was processed by wet oxidation, the water samples was weak alkaline basically, with pH in between 7.83 to 8.70. COD removal, decolorization removal and turbidity removal basically improved with the extension of time, the COD removal and decolorization removal can reach 50 % or more basically. When influent concentration was greater than 5500 mg/L, turbidity removal was less than 40 %. So the influent concentration of the black liquor in wet oxidation treatment should not be too large, the influent concentration of 2500 mg/L to 4000 mg/L is appropriate.

A humanoid flexible robot hand is introduced base on the single bending joint and bi-directional bending flexible joint we previously developed. The robot hand has human palm shape, and all the fingers have the same structure based on the modular design, which improve the versatility and interchangeability greatly. The position and posture of the fingers are acquired by means of homogeneous transformation matrix with parameter. The study in this paper lays the foundation for further research.

This paper developed a novel elongation type of Pneumatic Artificial Muscle (PAM), which is mainly composed of the expandable internal rubber tube surrounded by the external cylindrical helical spring and the two ends are closed. The PAM is not only the actuator of the flexible joint but also the core components to make up of the flexible joint. Therefore, the mechanical properties of the PAM directly influence the performance of the flexible joint. A mathematical model on the axial deformation and bending stiffness of elongation type of PAM was built applying theoretical analysis and experimental research methods. The results show that the axial deformation of PAM and the air pressure supplying to the PAM are nonlinearly related due to the generic nonlinear of deformation of the rubber tube; the bending angle of the PAM is proportional to moment; Similarly, the bending angle of the PAM is also proportional to its length. Furthermore, it indicates that the air pressure indirectly affects the bending stiffness of PAM as the air pressure directly influences the elongation of PAM. Finally, this paper provides a powerful framework for the dynamic analysis and motion accuracy control of the flexible joint or the robot which is composed by the artificial muscles.

Electrorheological (ER) fluid-assisted polishing process is the ultra precision finishing technologies for micro-aspherical lenses and dies. The principle of ER fluid-assisted polishing (ERP) is to use ER effect as a result of the application of electric field. The ER particles and abrasive particles suspended in silicone oil are polarized in which ER particles strongly attract each other and aggregate into chain like structure along the electric field lines, and the abrasive particles may adhere to the ER chain. The force acting on ER particles and abrasive particles in an electric field is calculated. Furthermore, experiments of polishing optical glass with Al2O3 are carried out to find the influential regularities of polishing time, rotational speed of micro-tool, voltage, the density of abrasives in ER fluid on the surface roughness.

Flexible joint plays an important role in compliant motion of robot and bionic function and so on. We developed a new type bidirectional controllable flexible bending joint based on elongation artificial muscles, and which can axial elongate and bend two-dimensional two-way control in space. Furthermore, we had theoretical and experimental analysis on both axial elongation and bending deformation of joint, and get the pressure-elongation relationship and bending moment-angle properties. And this study could be valuable for the dynamic analysis and motion accuracy control of the robots driven by this type flexible joint.

Design and analysis of a five-fingered robot hand is presented. The robot hand has five multi-actuated fingers each with three flexible joints. Each joint is designed using a novel flexible mechanism based on elongation pneumatic artificial muscle. Its high flexibility and inherent compliance make them ideally suited for delicate tasks, e.g. grasp, pinch, and nip. Furthermore, this paper established the mathematical models to simulate the behavior of grasping; get the relationship between air pressure as well as position and posture of fingers. In view of all characteristics five-fingered robot hands are very well suited for automation and robotic applications.