Kinematics research of continuum robot for insitu detection of aeroengine
                                      XIANG Liqing1, JU Feng1,2, QI Fei1, WANG Yaming1, HUA Daren1, CHEN Bai1
(1.College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics,Nanjing 210016, China;2.The State Key Laboratory of Fluid Power and Mechatronics Systems,Zhejiang University, Hangzhou 310027, China)

Abstract: Aiming at the problem that the interior space of aeroengine compressor is long and narrow, it was difficult for the traditional detection method to detect in situ, and the traditional singlecorecolumn continuum body robot has its drawback, such as easy distortion, poor motion accuracy and difficulty in control, the structure of the continuum robot and the different requirements of flexibility of the continuum robot of each segment were studied. The optimal structure was selected by FEA, a kind of redundant DOFs (degrees of freedom) flexible continuum robot with a doublecorecolumn and staggered body was proposed and designed. Based on the geometric analysis method, the forward and inverse kinematics models of singlejoint and multijoint continuum robots were established, and the motion simulation and detection experiments were carried out. The results indicate that the designed continuum robot can meet the detection requirements, and the trajectory planning is reasonable, and it can accurately complete the engine detection task.

Key words: continuum robot; engine in-situ detection; doublecorecolumn; kinematic model; workspace simulation