Research On Continuum Robot For In-situ Detection Of Aero-engine

Aiming at the problem that the traditional detection method needs to disassemble the aero engine,this paper studies a redundant degree of freedom continuum robot that does not need to disassemble the engine for in-situ detection.In this paper,a novel continuum robot structure with staggered double-column columns is designed for the problem that the single-core column continuum robot is easy to be distorted.The continuum body structure was designed and optimized by using finite element analysis software.According to the functional requirements,the research and design of the mobile platform for detecting robots was carried out.According to the engine test operation process,the design requirements analysis and performance evaluation of the robot system were carried out.Based on the geometric analysis method,the forward and inverse kinematics model of singlesection and multi-section continuum robots is established.The Jacobian matrix of the robot is calculated.The decoupling analysis is performed.To ensure that the detection robot can reach the required detection area,the workspace of single-segment and multi-segment continuum robots is analyzed.Then,a sequential quadratic programming method is proposed for the planning of the robot feed path for the complex and narrow environment inside the aero engine.The key technologies in the detection process are studied: firstly,the point cloud data of the blade is collected to solve the threedimensional model of the blade;secondly,according to the obtained three-dimensional model of the blade,the blade to be detected is scanned at the minimum path cost;finally,it is found after the blade has a fault signal,Gaussian process regression and Bayesian optimization method are used to quickly determine the shape and size of the fault,and provide reliable and detailed data for troubleshooting decisions processing in time.Finally,according to the specific test task requirements,the correctness of the continuum robot motion feed and the feasibility of fault detection under the task constraints are verified.Based on the MATLAB software,the robot performs motion simulation verification under the specified trajectory requirements.The bending and end load experiments of the continuum robot system are carried out.The error analysis of the ideal path and actual configuration of the continuum robot path feed is carried out.The scientific nature of the model and the systematic obstacle avoidance were experimentally verified.Based on the continuum robot,the engine detection experiment was carried out using eddy current testing technology.The results show that the kinematics modeling method of the continuum robot is correct,and the experimental results are in line with the simulation analysis,which ensures the high positioning accuracy of the end effector,can be correctly fed to the detection position,and the engine is detected in situ.