提出可伸缩多段柔性机械臂，实现航空发动机叶片的原位同步检测。
Design and Control of an Ultra-Slender Push-Pull Multisection Continuum Manipulator for In-Situ Inspection of Aeroengine
- 采用肌腱驱动的超细多段结构，提升空间通过性与姿态灵活性。
- 实测可在有限算力下实时控制，完成多级叶片同步检测。
- 适合需要高灵活性、无需拆机的工业内窥检测场景。
由于工业内窥镜形状受周围接触被动改变，通过检查孔进行人工检测时存在无法触及区域，难以同时穿越多级叶片并完成检测，通常需拆解发动机或多人协作，导致效率下降与成本上升。为此，本文提出一种新型推拉式多段连续体机械臂，凭借更高柔韧性、通过性与可控性，有望解决上述问题。其超细设计结合肌腱驱动机构，在保持轻量化的同时获得充足工作空间和更灵活姿态。针对多段间肌腱耦合问题，提出创新的运动学解耦控制方法，可在计算资源受限条件下实现实时控制。搭建原型机验证机电设计与控制算法性能。实验结果表明，该连续体机械臂在航空发动机多级叶片原位检测中表现优异，具备替代工业内窥镜的潜力。
原文摘要 · Abstract (English)
Since the shape of industrial endoscopes is passively altered according to the contact around it, manual inspection approaches of aeroengines through the inspection ports have unreachable areas, and it's difficult to traverse multistage blades and inspect them simultaneously, which requires engine disassembly or the cooperation of multiple operators, resulting in efficiency decline and increased costs. To this end, this paper proposes a novel continuum manipulator with push-pull multisection structure which provides a potential solution for the disadvantages mentioned above due to its higher flexibility, passability, and controllability in confined spaces. The ultra-slender design combined with a tendon-driven mechanism makes the manipulator acquire enough workspace and more flexible postures while maintaining a light weight. Considering the coupling between the tendons in multisection, a innovative kinematics decoupling control method is implemented, which can realize real-time control in the case of limited computational resources. A prototype is built to validate the capabilities of mechatronic design and the performance of the control algorithm. The experimental results demonstrate the advantages of our continuum manipulator in the in-situ inspection of aeroengines' multistage blades, which has the potential to be a replacement solution for industrial endoscopes.
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