According to the clinical rehabilitation medicine theory and the characteristics of human upper limb rehabilitation robot, a dexterous rehabilitation mechanical arm with 6-DOF is designed to satisfy the need of rehabilitation in this paper. By analyzing the six cases of the 3-DOF serial distribution and the kinematic relation of the shoulder joint, the spherical joint motion of the shoulder joint is achieved by using the circular arc guide rail. Two serial mechanism approaches of the shoulder joint using PRR and RRP type are provided. After comparing these designs, the PRR type is selected, the kinematics positive solution of this type is given.

In this paper, a mechanical model has been established for elastic support element of high speed winding machine, and an analytical-experimental study has been carried out for the evaluation of frequency dependence the stiffness and damping of the "O" type rubber ring, the key factors which influence the stiffness and damping have been obtained. This lays a foundation for further study on frequency characteristic of kinetic parameters of high speed winding machine elastic support system.

Heavy metal capture experiments were carried out in a tube furnace to investigate the effect of different sorbents and Si-Al ratios on the capture of Zn, Cu, Pb, Cd and Cr during simulated MSW incineration. The incineration bottom ash was digested by aqua regia and HCl/HNO3/HF, then determined by ICP-AES. Experimental results indicate that HCl/HNO3/HF is more suitable for the digestion of incineration bottom ash than aqua regia; the volatilization capacities of the five metals during simulated MSW incineration at 1000°C follow the sequence of Pb > Cd > Cu > Cr > Zn; zeolite and limestone have a certain efficiency to capture Zn and Cr while kaolinite has no efficiency to capture all the five metals; the addition of kaolinite and zeolite can prevent the glass and brick powder from melting which can cause the package of heavy metals, but the addition of zeolite can promote Zn and Cr to form silicate, aluminate and aluminosilicate; the mixture of SiO2and Al2O3is in favor of the adsorption of Cd and Cr, but against the adsorption of Pb and Cu compared with single SiO2or Al2O3.

A finite element model of the elastic support rotor system based on the corresponding experimental model was established. According to the principle of two types of model with an equal first order critical speed, the equivalent stiffness and damping of a rolling ball bearing support system with rubber rings determined by experiment were transferred into the finite element model. Then, the dynamic behavior of rotor systems with symmetric and asymmetric structure, different support system stiffness and support span were calculated and analyzed respectively. At last, the influence of the rotor structural parameters on the equivalent stiffness of elastic bearing support system obtained by experiment was pointed out.

According to the structure and production processing requirements of polyester filament winding head, a finite element dynamic model of the winding system in parameters time-varying was established. By using the method of numerical calculation, the dynamic characteristics of the winding head were analyzed in three processes: rapid starting-up in empty volume, winding filament process and stopping in full volume. By studying the influence of the three processing under large stiffness coupling and soft stiffness coupling in the winding head, the role of the coupling stiffness and spindle structure was revealed in different working process.