计算机工程与应用2026，Vol.62Issue(17)：343-352,10.DOI:10.3778/j.issn.1002-8331.2506-0158
狭深腔体内可重构检修机械臂路径规划方法
Path Planning Method for Reconfigurable Maintenance Manipulator in Narrow and Deep Cavity
摘要
Abstract
To address the maintenance challenges in the narrow and deep cavities of aircraft wings,a reconfigurable main-tenance manipulator has been designed.Considering the strong randomness and low planning efficiency of the traditional rapidly exploring random tree(RRT)algorithm,an improved RRT algorithm is proposed.The manipulator joints are designed with modularity,and through mechatronic universal connectors,the manipulator can be quickly reconfigured and assembled.This allows for flexible configuration of degrees of freedom and adjustment of arm extension length,thereby adapting to different narrow and deep cavity structures.The improved RRT algorithm is proposed by introducing a dynamic probabilistic goal-biased strategy,constructing a dynamic factor artificial potential field method,adopting dynamic step growth,and integrating pruning optimization strategies and smoothing optimization methods.Simulation and experimental results show that the reconfigurable maintenance manipulator using the improved algorithm can achieve full coverage maintenance of narrow and deep cavity structures.The improved algorithm also demonstrates certain advantages in terms of path length,planning time,number of nodes,and number of samples.关键词
可重构机械臂/路径规划/快速搜索随机树(RRT)算法/狭深腔体检修Key words
reconfigurable robotic arm/path planning/rapidly exploring random tree(RRT)algorithm/maintenance of narrow cavities分类
信息技术与安全科学引用本文复制引用
刘璇,韩子彦,赵阿朋,赵政阳,李满宏..狭深腔体内可重构检修机械臂路径规划方法[J].计算机工程与应用,2026,62(17):343-352,10.基金项目
河北省科技创新项目(SJMYF2022X20) （SJMYF2022X20）
国家自然科学基金(52275016) （52275016）
中央引导地方科技发展资金(226Z1801G) （226Z1801G）
河北省高等学校科学技术研究项目(CXZX2025002,JZX2023015) （CXZX2025002,JZX2023015）
天津市科技计划项目(25YDTPJC00770). （25YDTPJC00770）
