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Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots for in-situ aero-engine maintenance

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Frontiers of Mechanical Engineering 2023年第3期18卷 99-121页

作者： Zheshuai YANG Laihao YANG Yu SUN Xuefeng CHEN School of Mechanical Engineering Xi'an Jiaotong UniversityXi'an 710049China

In-situ maintenance is of great significance for improving the efficiency and ensuring the safety of aero-engines.The 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 maintenance.The high-fidelity model that describes the kinematic and morphology of CDCR lays the foundation for the accurate operation and control for in-situ maintenance.However,this model was not well addressed in previous literature.In 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 mechanisms.First,a novel cable-hole friction model with the variable friction coefficient and adaptive friction direction criterion is proposed through structure optimization and kinematic parameter analysis.Second,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 CDCR.Finally,a compact continuum robot system is integrated to experimentally validate the proposed kinetostatic model and the concept of in-situ aero-engine maintenance.Results indicate that the proposed model precisely predicts the morphology of CDCR and outperforms conventional models.The compact continuum robot system could be considered a novel solution to perform in-situ maintenance tasks of aero-engines in an invasive manner.

关键词： kinetostatic modeling morphology characterization variable friction continuum robots in-situ maintenance

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