Endoscopy is useful for inspecting features in hard-to-reach cavities, such as the blades inside a turbine engine with a flexible body and a semi-rigid bending section. It is hypothesized that an endoscope can be used to grind a predetermined amount of material to smooth the cracks on turbine blades in those cavities. By turning control knobs on the endoscope, the bending section can access a workpiece on its lateral direction. In this research, two models are built to estimate the pose (position and orientation) and force on a modified PENTAX ES-3801 endoscope. The experimental and estimated results prove that the pose and force of the flexible bending section can be predicted and monitored when subjected to varying loads.

This content is only available via PDF.
You do not currently have access to this content.