面向航空狭小空间作业的柔性连续体机器人刚度调控与精度保障研究

In view of the urgent need of in-situ operation (such as testing, maintenance and assembly of aero engine, casing, wing and other important components) in the small and complicated space in the aerospace field, the project combines the design theory of compliant mechanism and robot technology to propose a variable stiffness compliant continuum robot. This paper focuses on the further research on a series of key problems such as local stiffness enhancement mechanism, global variable stiffness method, internal obstacle avoidance and trajectory planning in narrow space, and unstructured environment sensing technology. The objective is to break through the problems of low stiffness and low precision existing in compliant continuous robot, and realize the safe interaction between the robot and the workpiece in the complicated unstructured narrow space. The research is expected to lay the foundation for the creation of new principles and new equipment for the in-situ maintenance for cavities in aviation lumens, and can also be applied to other fields such as security, nuclear power repair, electric vehicle charging, minimally invasive surgery and exoskeleton etc. The research results are also of great importance to enhance the overhauling capability and level of aviation and nuclear energy, and to promote the autonomous innovation of China's robotic equipment.

项目针对航空领域复杂狭小空间原位作业（如发动机、机匣、机翼等关键零部件的检测、维修等）的迫切需求，将柔性机构设计理论、行为仿生理念与机器人技术相结合，提出了一种刚度可调的柔性连续体机器人。着重对连续体机器人局部刚度增强机理、整体变刚度方法、运动学与动力学精确建模与精度控制、狭小空间内部安全避障与轨迹规划技术、非结构环境感知技术等关键问题进行深入研究，解决柔性连续体机器人低结构刚度与高作业精度的矛盾，并实现机器人在复杂非结构化狭小空间内与工件的安全交互。项目研究可为创建航空内腔结构原位检修机器人的新原理和新装备奠定基础，也可推广至安保、核电检修、海洋探测、电动汽车充电、微创外科、可穿戴装置等其他领域的应用。研究成果对提升航空等领域亟需的检修能力及水平，推进我国机器人装备的自主创新具有重要意义。

项目针对航空领域复杂狭小空间原位作业（如发动机、机匣、机翼等关键零部件的检测、维修等）的迫切需求，将柔性机构设计理论、行为仿生理念与机器人技术相结合，提出了分别基于柔性机构和滚动接触的多种适用于不同场景的柔性连续体机器人，极大缓解了柔性连续体机器人低结构刚度与高作业精度的矛盾。针对连续体机器人的变刚度方式，着重对粒子干扰技术、镓基液态金属磁效应进行了深入研究，实现了连续体机器人局部和整体的刚度增强。另外，还分别构建了基于旋量理论和启发式算法的运动学逆解模型，用于连续体机器人的精度控制。启发式的避障算法和基于双目视觉的环境感知技术保障了机器人在复杂非结构化狭小空间内与工件的安全交互。项目研究可为创建航空内腔结构原位检修机器人的新原理和新装备奠定基础，也可推广至安保、核电检修、海洋探测、电动汽车充电、微创外科、可穿戴装置等其他领域的应用。研究成果对提升航空等领域亟需的检修能力及水平，推进我国机器人装备的自主创新具有重要意义。