Abstract: An aeroengine remaining useful life prediction method based on a neural ordinary differential equation under symmetric regularization includes the steps of: collecting monitoring parameters of a full-lifecycle of an aeroengine with sensors; establishing a first-order neural ordinary differential equation to perform continuous temporal modeling on a degradation process in a latent variable space, calculating a residual signal as a time-varying signal; establishing a Fourier neural operator to approximate a transfer function of a physical system, mapping an operating condition parameter and a latent variable to a sensor response parameter, so as to construct a loss function of the neural network; considering a time-scale transformation between different degradation processes, constructing a symmetry regularization term to constrain the invariance of the neural ordinary differential equation to the time-scale transformation, obtaining a latent variable process with a consistent structure.

Abstract: Disclosed is a torque sensing bionic clamping jaw. In the torque sensing bionic clamping jaw, a left clamping jaw skeleton is movably connected to a substrate, the left clamping jaw skeleton includes a first left groove and a second left groove which are in a side facing a right jaw, a left sensor quick-release connecting piece is detachably connected to the first left groove, a left torque measuring sensor is mounted on the left sensor quick-release connecting piece, a left flexible gasket quick-release connecting piece is detachably connected to the second left groove, and a left flexible gasket is mounted on the left flexible gasket quick-release connecting piece; a right torque measuring sensor is mounted on a right sensor quick-release connecting piece and opposite to the left torque measuring sensor, and a right flexible gasket is mounted on a right flexible gasket quick-release connecting piece.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

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.