摘要
针对现有航空发动机叶片原位检测机器人柔顺性差、负载能力低及结构刚度不足的问题,设计了一种绳驱动可吸附连续体机器人,以解决连续体结构高柔性与低刚度间的矛盾。该机器人基于叶片环境特征及章鱼触手吸附机理,由多节卯榫柔性关节与气压吸附单元串联构成,通过主动吸附增强结构刚度并防止变形失稳。基于改进的D-H法和欧拉变换原理建立运动学模型,分析其弯曲变形与结构参数间的映射关系,并通过有限元ANSYS对结构刚度和变形特性进行分析。实验平台验证了所建运动模型及控制性能,结果表明,机器人最大负载达4.42 N,且在相同负载下末端位置偏差较传统连续体结构分别降低78%和57.5%,由此验证了所提可吸附连续体结构及所建模型的正确性和有效性。
To address the problems of poor flexibility,low load capacity,and insufficient structural rigidity of the existing in-situ inspection robots for aero-engine blades,a rope-driven adsorbable continuum robot is designed to solve the contradiction between high flexibility and low rigidity of the continuum structure.Based on the characteristics of the leaf environment and the mechanism of octopus tentacle adsorption,the robot consists of multiple mortise-and-tenon flexible joints connected in series with pneumatic pressure adsorption units,which enhances the structural stiffness and prevents deformation and destabilization through active adsorption.The kinematic model is formulated based on the improved D-H method and the Euler transformation principle.The mapping relationship between its bending deformation and structural parameters is analyzed.The structural stiffness and deformation characteristics are analyzed by using finite element ANSYS.The experimental platform evaluates the proposed kinematic model and control performance.Compared with the traditional continuum structure,the results show that the maximum load of the robot reaches 4.42 N,and the end position deviation under the same load is reduced by 78%and 57.5%,respectively.Thus,the correctness and validity of the proposed adsorbable continuum structure and the proposed model are verified.Aiming at the problems of poor flexibility,low load capacity and insufficient structural rigidity of the existing in-situ inspection robots for aero-engine blades,a rope-driven adsorbable continuum robot is designed to solve the contradiction between high flexibility and low rigidity of the continuum structure.Based on the characteristics of leaf environment and the mechanism of octopus tentacle adsorption,the robot consists of multiple mortise-and-tenon flexible joints connected in series with pneumatic pressure adsorption units,which enhances the structural stiffness and prevents the deformation and destabilization through active adsorption.The kinematic model is established based on the improved D-H method and Euler transformation principle,the mapping relationship between its bending deformation and structural parameters is analyzed,and the structural stiffness and deformation characteristics are analyzed by finite element ANSYS.The experimental platform verifies the proposed kinematic model and control performance,and the results show that the maximum load of the robot reaches 4.42 N,and the end position deviation under the same load is reduced by 78%and 57.5%,respectively,compared with that of the traditional continuum structure,thus verifying the correctness and validity of the proposed adsorbable continuum structure and the proposed model.
作者
齐飞
葛奕玮
刘先军
孙露
郑宏儒
Qi Fei;Ge Yiwei;Liu Xianjun;Sun Lu;Zheng Hongru(School of Mechanical Engineering and Rail Transit,Changzhou University,Changzhou 213000,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2024年第10期97-109,共13页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金项目(52305092)
江苏省研究生科研创新计划项目(KYCX24_3219)资助。
关键词
连续体机器人
航空发动机叶片检测
运动建模
吸附机构
continuum robot
aero-engine blade inspection
motion modeling
adsorption mechanism continuum robot
aero-engine blade inspection
motion modeling
adsorption mechanism
