Xi'an Jiaotong University

Laihao Yang

Xuefeng Chen

Yu Sun

Yinchong Peng

Baijie Qiao

Chunyan Ao

Zhibo Yang

Shaohua Tian

Zengkun Wang

Jiahui Cao

Weifeng He

Wenbo Li

Haoqi Li

Zheshuai Yang

Disclosed is a rigid-flexible coupled continuum robot unit and a continuum robot. In the rigid-flexible coupled continuum robot unit, structural unit blocks are staggered and interconnected to constitute an entire manipulator; two ends of a flexible nickel-titanium rod are respectively connected with two adjacent structural unit blocks; a front-end unit block is arranged at a foremost end of the manipulator; and a rear-end unit block is arranged at a rearmost end of the manipulator. When in use, a memory alloy nickel-titanium rod forms a flexible joint, a limiting clamping jaw and a limiting boss form a rigid joint, the two complement each other, after a drive wire applies pressure, the limiting clamping jaw and the limiting boss are in a wrapping relationship, a motion trail of the robot unit is limited, such that the robot unit always rotates around a center of rotation along an arc.

Rigid-flexible coupled continuum robot unit and continuum robot

Disclosed is a birfield flexible variable-stiffness continuum robot unit and a continuum robot. In the birfield flexible variable-stiffness continuum robot unit, main structural units are interconnected to constitute a continuum manipulator; joint connecting structures connect the two adjacent main structural units; a front-end unit is arranged at a foremost end of the manipulator; and a rear-end unit is arranged at a rearmost end of the manipulator. When in use, birfield joint design is adopted, a single joint has two degrees of freedom, is more flexible and variable, and the adjacent structural units rotate around a center of a sphere, so that modeling is simpler and more convenient; connection design of flexible springs is further adopted, certain stiffness is provided for the manipulator, and thus the manipulator has a variable-stiffness characteristic; and meanwhile, a roll ball structure makes the manipulator have high torsional resistance.

Birfield flexible variable-stiffness continuum robot unit and continuum robot

The present disclosure discloses a bearing-type twin-pivot continuum robot, including: an actuating device, used for driving a continuum manipulator through a driving cable such that the continuum manipulator performs a bending motion; a continuum manipulator, connected with the actuating device through the driving cable, the continuum manipulator comprising M sections, adjacent sections being able to be deflected, and the continuum manipulator performing the bending motion under the driving of the actuating device; and a linear slide module, disposed at the bottom of the actuating device, the linear slide module having a predetermined feed slide in a feed direction such that the actuating device performs a feed motion within the predetermined slide. The above continuum robot greatly improves the resistance to torsion of the manipulator by adopting a rigid-compliant coupling mode, and creatively introduces a micro-bearing design that avoids adverse effects due to friction between conventional rigid hinges.

Bearing-type twin-pivot continuum robot

The present disclosure discloses a method for extracting a natural frequency difference between blades by a single blade tip timing sensor or uniformly distributed blade tip timing sensors. The method includes the following steps: acquiring actual arrival time of a rotating blade by using a single blade tip timing sensor or uniformly distributed blade tip timing sensors, and converting a difference between theoretical arrival time and the actual arrival time into displacement data of a blade tip according to a rotational speed and a blade length of the rotating blade; selecting displacement data of blade tips of two rotating blades with the same blade length at the same rotational speed; intercepting the displacement data, performing discrete Fourier transform respectively, and making a sampling frequency approximate to an average rotational speed to obtain spectrum data.

Method for extracting natural frequency difference between blades by single blade tip timing sensor or uniformly distributed blade tip timing sensors

The present invention discloses a dynamic strain field measuring method and system for a rotor blade based on blade tip timing. The method includes the following steps: establishing a three-dimensional finite element model of a to-be-measured rotor blade, and extracting modal parameters of the three-dimensional finite element model; determining the number and circumferential mounting positions of blade tip timing sensors; establishing a mapping relationship between single-point displacement and full-field dynamic strains of the blade; acquiring blade tip single-point displacement of the rotor blade based on the blade tip timing sensors; and realizing, by the single-point displacement, dynamic strain measurement in any position and direction of the rotor blade based on the mapping relationship.

Dynamic strain field measuring method and system for rotor blade based on blade tip timing

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Shaanxi, China

Laihao Yang