Development of a slender continuum robotic system for on-wing inspection/repair of gas turbine engines

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• 作者：X. Dong^a ; D. Axinte^a ; ^{Dragos.Axinte@nottingham.ac.uk} ; D. Palmer^a ; S. Cobos^a ; M. Raffles^a ; A. Rabani^a ; J. Kell^b
• 关键词：Continuum robot ; Repair/maintenance of aero-engines ; Navigation ; Multi-axis manipulation of end-effectors
• 刊名：Robotics and Computer-Integrated Manufacturing
• 出版年：2017
• 出版时间：April 2017
• 年：2017
• 卷：44
• 期：Complete
• 页码：218-229
• 全文大小：3076 K
• 卷排序：44

文摘

A novel slender continuum robot is introduced for in-situ repair/inspection of jet engines. A new kinematic model is introduced for the new tapered design. Modes of control for the continuum robot were developed, including tip-following, feeding-in/out, Machining commands. Navigation and inspection/machining tests in engine model were introduced.