Abstract: 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.

Abstract: The present disclosure discloses a method for detecting a natural frequency of a blade by a single blade tip timing sensor. In the method, two segments of displacement data vectors are subjected to dot product to obtain a product data vector after multiplication of corresponding serial numbers, the product data vector is subjected to low-frequency filtering, the filtered product vector is subjected to Hilbert transform to obtain an instantaneous phase, the instantaneous phase is subjected to discrete Fourier transform, an absolute value of a natural frequency difference between blades is extracted from amplitude frequency data, blades on a bladed disk are subjected to permutation and combination to obtain absolute values of the natural frequency differences between all the blades, a sum of the absolute values of the natural frequency differences between each blade and other blades is calculated.

Abstract: The present disclosure discloses a method for detecting a natural frequency of a blade by a single blade tip timing sensor. In the method, two segments of displacement data vectors are subjected to dot product to obtain a product data vector after multiplication of corresponding serial numbers, the product data vector is subjected to low-frequency filtering, the filtered product vector is subjected to Hilbert transform to obtain an instantaneous phase, the instantaneous phase is subjected to discrete Fourier transform, an absolute value of a natural frequency difference between blades is extracted from amplitude frequency data, blades on a bladed disk are subjected to permutation and combination to obtain absolute values of the natural frequency differences between all the blades, a sum of the absolute values of the natural frequency differences between each blade and other blades is calculated.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.