Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots for in-situ aero-engine maintenance
作者机构：School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an 710049China
出 版 物：《Frontiers of Mechanical Engineering》 (机械工程前沿（英文版）)
年 卷 期：2023年第18卷第3期
页 面：99-121页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：sponsored by the National Natural Science Foundation of China(Grant Nos.52105117 52375125 and 52105118)
主 题：kinetostatic modeling morphology characterization variable friction continuum robots in-situ maintenance
摘 要：In-situ maintenance is of great significance for improving the efficiency and ensuring the safety of *** cable-driven continuum robot(CDCR)with twin-pivot compliant mechanisms,which is enabled with flexible deformation capability and confined space accessibility,has emerged as a novel tool that aims to promote the development of intelligence and efficiency for in-situ aero-engine *** high-fidelity model that describes the kinematic and morphology of CDCR lays the foundation for the accurate operation and control for in-situ ***,this model was not well addressed in previous *** this study,a general kinetostatic modeling and morphology characterization methodology that comprehensively contains the effects of cable-hole friction,gravity,and payloads is proposed for the CDCR with twin-pivot compliant ***,a novel cable-hole friction model with the variable friction coefficient and adaptive friction direction criterion is proposed through structure optimization and kinematic parameter ***,the cable-hole friction,all-component gravities,deflection-induced center-of-gravity shift of compliant joints,and payloads are all considered to deduce a comprehensive kinetostatic model enabled with the capacity of accurate morphology characterization for ***,a compact continuum robot system is integrated to experimentally validate the proposed kinetostatic model and the concept of in-situ aero-engine *** indicate that the proposed model precisely predicts the morphology of CDCR and outperforms conventional *** compact continuum robot system could be considered a novel solution to perform in-situ maintenance tasks of aero-engines in an invasive manner.
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