The primary motivation of this study is to develop a sensor-less, easily controlled, and passively adaptive robotic gripper. A back-drivable pneumatic underactuated robotic gripper (PURG), based on the pneumatic cylinder and underactuated finger mechanism, is presented to accomplish the above goals. A feedforward grasping force control method, based on the learned kinematics of the underactuated finger mechanism, is proposed to achieve sensor-less grasping force control. To enhance the grasping force control accuracy, a state-based actuating force modeling method is presented to compensate the hysteresis error which exists in the transmission mechanism. Actuating force control experiment is performed to validate the effectiveness of the state-based actuating pressure modeling method. Results reveal that compared with the non-state-based modeling method, the proposed state-based actuating force modeling method could reduce the modeling error and control error by about 37.0% and 77.2%, respectively. Results of grasping experiments further reveal that grasping force could be accurately controlled by the state-based feedforward control model in a sensor-less approach. Adaptive grasping experiments are performed to exhibit the effectiveness of the sensor-less grasping force control approach.

Excessive recoil severely restricts the loading of high-power traditional guns on modern vehicles. To reduce the recoil without breaking the continuous firing mode and reducing the projectile velocity, a recoil reduction method that controls the lateral ejecting of propellant gas by a piston was proposed. The recoil reduction device is symmetric about the barrel axis. First, a one-dimensional two-phase flow model of interior ballistic during the gun firing cycle was established. Next, the MacCormack scheme was used to simulate, and the piston motion was gained. Then the propagation of the rarefaction wave in the barrel was presented. Finally, the propulsion difference between the piston-controlled gun and the traditional gun was discussed. The results showed that the recoil momentum was reduced by 31.80%, and the muzzle velocity was decreased by just 1.30% under the reasonable matching of structural parameters.

Aramid fibre has become a critical material for individual soft body armour due to its lightweight nature and exceptional impact resistance. To investigate its energy absorption mechanism, quasi-static and dynamic tensile experiments were conducted on Kevlar^® 29 plain-woven fabric using a universal material testing machine and a Split Hopkinson Tensile Bar (SHTB) apparatus. Tensile mechanical responses were obtained under various strain rates. Fracture morphology was characterised using scanning electron microscopy (SEM) and ultra-depth three-dimensional microscopy, followed by an analysis of microstructural damage patterns. Considering the strain rate effect, a viscoelastic constitutive model was developed. The results indicate that the tensile mechanical properties of Kevlar^® 29 plain-woven fabric are strain-rate dependent. Tensile strength, elastic modulus, and toughness increase with strain rate, whereas fracture strain decreases. Under quasi-static loading, the fracture surface exhibits plastic flow, with slight axial splitting and tapered fibre ends, indicating ductile failure. In contrast, dynamic loading leads to pronounced axial splitting with reduced split depth, simultaneous rupture of fibre skin and core layers, and fibrillation phenomena, suggesting brittle fracture characteristics. The modified three-element viscoelastic constitutive model effectively captures the strain-rate effect and accurately describes the tensile behaviour of the plain-woven fabric across different strain rates. These findings provide valuable data support for research on ballistic mechanisms and the performance optimisation of protective materials.

This paper presents a miniature Linear Series Elastic Actuator (LSEA), in which two low-cost linear potentiometers were adopted to achieve a compact design. To improve the measurement accuracy of the linear potentiometer, a novel Bezier-based Calibration Method (BCM) and its optimization method were proposed to calibrate the inherent nonlinearity of the linear potentiometer. Calibration efficiency of the BCM was investigated numerically by making a comparison with the widely used Polynomial Calibration method (PCM), and the effect of the BCM calibration on the control performance of the LSEA was investigated experimentally by displacement and force control. Results reveal that the BCM exhibits an excellent local calibration ability for the nonlinearity with knee points. Due to the above characteristic, the BCM could produce a better calibration accuracy than the PCM under the same model order and improve the control performance of the LSEA. In addition, the BCM could calibrate the inherent nonlinearity of the potentiometer in a continuous form rather than that of piecewise ones. The continuous calibration form could bring more convenience to practical applications.