一种用于航空发动机现场检修的新型超细长连续体机器人设计、建模与验证
Design, Modelling and Validation of a Novel Extra Slender Continuum Robot for In-situ Inspection and Repair in Aeroengine
摘要：
航空发动机现场维修工作是非常有益的，因为它可以显着减少目前的维修周期，这是广泛的和昂贵的，由于从飞机上拆卸发动机的要求。然而，在受限环境（例如燃烧室）中通过检查端口导航进/出和利用末端执行器执行多轴运动是相当具有挑战性的。提出了一种新型超细长（径长比<0.02）双级连续体机器人（16自由度），用于在受限环境中导航进出，并执行所需的构型形状以进行进一步的修复操作。首先，机器人设计提出了几种创新的机电一体化解决方案：（i）双级肌腱驱动结构，带有斜面盘，以执行所需的形状，并为承载高有效载荷提供选择性刚度;（ii）各种刚性柔性组合关节，以实现每个阶段的不同灵活性和刚度;（iii）每个2-DoF部分的三个命令电缆，以最大限度地减少精确致动的致动器数量。其次，分段缩放分段常曲率理论为基础的运动学模型和基尔霍夫弹性杆理论为基础的静态模型，建立考虑所施加的力/力矩（摩擦，驱动，重力和外部负载），其中的摩擦系数建模为弯曲角度的函数。最后，进行了实验，以验证所提出的静态建模，并评估机器人执行预定义的形状和刚度的能力。
英文摘要：
In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out via inspection ports and performing multi-axis movements with end-effectors in constrained environments (e.g. combustion chamber) are fairly challenging. A novel extra-slender (diameter-to-length ratio <0.02) dual-stage continuum robot (16 degree-of-freedom) is proposed to navigate in/out confined environments and perform required configuration shapes for further repair operations. Firstly, the robot design presents several innovative mechatronic solutions: (i) dual-stage tendon-driven structure with bevelled disks to perform required shapes and to provide selective stiffness for carrying high payloads; (ii) various rigid-compliant combined joints to enable different flexibility and stiffness in each stage; (iii) three commanding cables for each 2-DoF section to minimise the number of actuators with precise actuations. Secondly, a segment-scaled piecewise-constant-curvature-theory based kinematic model and a Kirchhoff-elastic-rod-theory based static model are established by considering the applied forces/moments (friction, actuation, gravity and external load), where the friction coefficient is modelled as a function of bending angle. Finally, experiments were carried out to validate the proposed static modelling and to evaluate the robot capabilities of performing the predefined shape and stiffness.
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