Xi'an Jiaotong University

Yu Sun

Xuefeng Chen

Laihao Yang

Yinchong Peng

Chunyan Ao

Baijie Qiao

Hongrui Cao

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 invention discloses a non-contact dynamic strain field measuring method and system for a rotating blade. The method includes the following steps: establishing a three-dimensional finite element model of a to-be-measured rotating blade, and extracting modal parameters of the three-dimensional finite element model; determining the number and axial mounting positions of blade tip timing sensors; constructing a conversion matrix of finite measuring point displacement and an overall strain field; and acquiring blade tip finite position displacement of the rotating blade based on the blade tip timing sensors, and acquiring, by a dynamic strain, dynamic strains of the rotating blade at any moment, on any position and in any direction based on modal processing of the conversion matrix.

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Shaanxi, China

Yu Sun