Mechanical Structure Design and Kinematic Analysis of Continuum Robot for Aircraft Fuel Tank Inspection

被引：0

作者：

Niu, Guochen ^{[1
]}

Xiao, Daowen ^{[2
]}

Chen, Yubin ^{[2
]}

Ma, Lichao ^{[2
]}

Chen, Hongyu ^{[2
]}

机构：

[1] Beihang Univ, Inst Robot, Beijing 100191, Peoples R China

[2] Civil Aviat Univ China, Inst Robot, Tianjin, Peoples R China

来源：

INTERNATIONAL CONFERENCE ON SUSTAINABLE ENERGY AND ENVIRONMENT PROTECTION (ICSEEP 2015) | 2015年

关键词：

D O I：

暂无

中图分类号：

TE [石油、天然气工业]; TK [能源与动力工程];

学科分类号：

0807 ; 0820 ;

摘要：

In order to improve the inspection and maintenance efficiency of aircraft fuel tank and reduce the labour intensity of the crew, the continuum robot was designed to assist the crew for inspecting fuel tank. According to the demand of aircraft fuel tank inspection, the compliant mechanism and the drive mechanism of the continuum robot were designed. With the carbon fiber stick as the backbone axis, the cable-driven remote control method was adopted for the compliant mechanism. The winding approach was used for the drive mechanism to realize the displacement control of drive cables, and the drive motors arranged in longitudinal ring have the features including occupying small space and high extendibility. The kinematic model of a single-joint section of continuum robot was built, and the homogeneous transfer matrix of single-joint section was obtained. Then, the mapping relation from joint space to drive space was analysed. Finally, experiments were carried out based on the platform, and results validated the feasibility and effectiveness of the scheme.

引用

页码：953 / 961

页数：9

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