In order to solve the problem of the insufficient adaptability of the current small- and medium-sized casting sorting robot gripper, we have designed a casting sorting robot bionic gripper with rigid–flexible coupling structures based on the robot topology theory. The second-order Yeoh model was used to statically model the clamping belt in the gripper to derive the relationship between the external input air pressure and the bending angle of the driving layer, and the feasibility of multiangle bending of the driving layer was verified by finite element analysis. The maximum gripping diameter of the gripper is 140 mm, and in order to test the adaptive gripping ability of the gripper, a prototype of the casting sorting robot gripper is prepared, and the pneumatic control system and human–machine interface of the gripper are designed. After several experimental analyses, the designed casting sorting robot gripper is characterized by strong adaptability and high robustness, with a maximum load capacity of 930 g and a maximum wrap angle of 296°, which can complete the gripping operation within 1 s, and the comprehensive gripping success rate reaches 96.4%. The casting sorting robot gripper designed in the paper can provide a reference for the design and optimization of various types of shaped workpiece gripping manipulators.

This paper presents a static and linear dynamic model to simulate the performance of a Micro Gas Turbine (MGT). The static model is obtained using thermodynamic equations and maps of the components to determine off design performance of the MGT with constant output power. The linear dynamic model is developed using linearized static and dynamic nonlinear equations around an operating point as state-space model to predict the behaviour of the MGT in transient conditions. To validate the results of the static model, important information such as fuel flow, fuel to air ratio, and turbine inlet temperature are compared with the results of Aspen-HYSYS software during an increase in ambient temperature. In addition, static model results are compared with experimental data of the MGT test by previous studies. Also, the compressor equilibrium running line of the MGT is derived in constant ambient condition. In order to evaluate the linear dynamic model, the verification is performed using the results of nonlinear model of previous studies. The comparison between the results confirms the ability of proposed dynamic model to simulate a MGT while decreasing the computational effort and complexity of equations. Moreover, a comparison is carried out between static model results and steady state values predicted by dynamic model.