用于航空发动机原位检测的连续体机器人运动研究

Kinematics research of continuum robot for in-situ detection of aero-engine

针对航空维修中传统检测手段难以在原位做发动机狭长内部的检测,及传统单芯柱骨架连续体机器人存在易扭曲、运动精度差及控制困难的问题,对连续体机器人的结构和其中各节对灵活性的差异要求进行了研究。利用有限元分析软件,选取了最优结构,设计了一种交错排列双芯柱结构的冗余自由度连续体机器人;基于几何分析方法,建立了单节、多节连续体机器人正逆运动学模型,分析了驱动空间与关节空间,关节空间与操作空间的相互映射关系,并进行了运动仿真和实验。研究结果表明:所设计连续体机器人的工作空间满足检测要求,其轨迹规划合理,能够准确地完成发动机的检测任务。

Aiming at the problem that the interior space of aero-engine compressor is long and narrow, it was difficult for the traditional detection method to detect in situ, and the traditional single-core-column continuum body robot has its drawback, such as easy distortion, poor motion accuracy and difficulty in control, the structure of the continuum robot and the different requirements of flexibility of the continuum robot of each segment were studied. The optimal structure was selected by FEA, a kind of redundant DOFs(degrees of freedom) flexible continuum robot with a double-core-column and staggered body was proposed and designed. Based on the geometric analysis method, the forward and inverse kinematics models of single-joint and multi-joint continuum robots were established, and the motion simulation and detection experiments were carried out. The results indicate that the designed continuum robot can meet the detection requirements, and the trajectory planning is reasonable, and it can accurately complete the engine detection task.