Návrh continuum robotu pro in-situ aplikaci v leteckém průmyslu

Abstract

The master’s thesis deals with the design of a continuum robot intended for inspection activities in the aviation industry with a focus on the field of maintenance, repair and overhaul (MRO). The main objective of the thesis is to analyze the potential of using these robots in difficult-to-access and dangerous areas and to design a robotic system for a specific application. The theoretical part of the thesis contains a research of the current state of robotization in aviation and continuum robot technology. Based on the analysis and cooperation with the company JOB AIR Technic a.s., the inspection of the internal parts of aircraft wings was chosen as the target application. The practical part focuses on the design of the robot arm, its kinematic analysis and identification of a hyperelastic model based on tensile tests. The thesis also includes an assessment of the possibilities of using the finite element method (FEM) in continuum robot simulations. Furthermore, two variants of power units are proposed, which are subsequently compared using multi-criteria analysis. The final part of the thesis is devoted to the integration of the arm and drive unit into the resulting assembly, the specification of the hardware components used, and the verification of the robot's reachability in two selected wing segments.