With the rapid development of the aviation industry,the development of intelligent manufacturing equipment represented by composite robots has been paid close attention by the aviation industry.Based on the analysis o...With the rapid development of the aviation industry,the development of intelligent manufacturing equipment represented by composite robots has been paid close attention by the aviation industry.Based on the analysis of the background and main structure function of composite robots,this paper focuses on the analysis of key technologies such as composite robot hardware design,visual sensing and planning system,integrated control of‘hands,feet,and eyes',multi-robot collaborative operation,and safety.The typical applications of composite robots in aviation intelligent manufacturing such as automatic drilling and connection of aircraft,aircraft surface spraying and finishing,parts handling,aircraft measurement,and inspection are presented.The development trends such as standardization of composite robots,integration of‘5G+cloud computing+AI',and fusion of intelligent sensors are proposed.展开更多
Robots are used to conduct non-destructive defect detection on wind turbine blades(WTBs)and to monitor their integrity over time.However,current inspection robots are often bulky and heavy,and struggle to detect defec...Robots are used to conduct non-destructive defect detection on wind turbine blades(WTBs)and to monitor their integrity over time.However,current inspection robots are often bulky and heavy,and struggle to detect defects in the blade's main beam,thus presenting difficulties in portability and effectiveness.To address these issues,we designed a wheel-wing composite robot equipped with a curved surface-adaptive phased array ultrasonic detection device for the detection of defects in the WTB's main beam.We determined the pose equation under different section characteristics and identified the robot's stable range of motion,thus developing a model of its kinematics.A detection device adapted for variable curvature surfaces was designed to ensure tight coupling between the robot's probe and the blade.Additionally,element differential and least-square ellipse-fitting methods were employed to analyze blades with irregular sections.The simulation results demonstrated that the prototype can stably traverse an area with a vertical angle of±14.06°at a speed of 0.25 m/s,fully covering the main beam area of the blade during walking operations.Moreover,the robot can scan the main beam area at a speed of 0.10 m/s,enabling the accurate detection of defects.展开更多
基金the National Key Research and Development Program of China(No.2022YFB4700400)。
文摘With the rapid development of the aviation industry,the development of intelligent manufacturing equipment represented by composite robots has been paid close attention by the aviation industry.Based on the analysis of the background and main structure function of composite robots,this paper focuses on the analysis of key technologies such as composite robot hardware design,visual sensing and planning system,integrated control of‘hands,feet,and eyes',multi-robot collaborative operation,and safety.The typical applications of composite robots in aviation intelligent manufacturing such as automatic drilling and connection of aircraft,aircraft surface spraying and finishing,parts handling,aircraft measurement,and inspection are presented.The development trends such as standardization of composite robots,integration of‘5G+cloud computing+AI',and fusion of intelligent sensors are proposed.
基金supported by the Zhejiang Lab Open Research Project(No.121001-AB2212)the Zhejiang Provincial Key Research and Development Program(No.2023C03186),China。
文摘Robots are used to conduct non-destructive defect detection on wind turbine blades(WTBs)and to monitor their integrity over time.However,current inspection robots are often bulky and heavy,and struggle to detect defects in the blade's main beam,thus presenting difficulties in portability and effectiveness.To address these issues,we designed a wheel-wing composite robot equipped with a curved surface-adaptive phased array ultrasonic detection device for the detection of defects in the WTB's main beam.We determined the pose equation under different section characteristics and identified the robot's stable range of motion,thus developing a model of its kinematics.A detection device adapted for variable curvature surfaces was designed to ensure tight coupling between the robot's probe and the blade.Additionally,element differential and least-square ellipse-fitting methods were employed to analyze blades with irregular sections.The simulation results demonstrated that the prototype can stably traverse an area with a vertical angle of±14.06°at a speed of 0.25 m/s,fully covering the main beam area of the blade during walking operations.Moreover,the robot can scan the main beam area at a speed of 0.10 m/s,enabling the accurate detection of defects.
