飞机舷窗清洁机器人的设计与实现
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摘要
目前飞机舷窗清洁仍然采用劳动强度大、工作效率低的手工作业的方式,针对传统的爬壁机器人不能在曲面上吸附移动的缺点,设计了一个可以在曲面上移动并能够清洁飞机舷窗的四足爬行机器人。根据飞机非对称变曲率的特点,对机器人进行静力分析得到机器人结构参数并验证其安全性,采用D-H表示法对每条关节腿进行运动学建模并得到关节空间到末端吸盘位置空间的变换矩阵。最后设计了机器人的控制系统,并研制了机器人样机,验证了设计方案的合理性和可行性。
At present the aircraft porthole cleaning still adopts the manual work with large labor intensity and low working efficiency,and the traditional climbing robot can not be adsorbed and move on the curved surface.In this paper,aquadruped climbing robot is designed,which can move on the curved surface and clean the aircraft porthole.Aiming at the non-symmetrical aircraft porthole with changed curvature,the static analysis of the robot is carried out,to obtain the parameter of robot structure and verify its safety.The kinematics model of each leg is set up by D-H method,and the transformation matrix form the joint space to the position space of end suction is obtained.Finally,the control system of robot is designed,and a prototype robot is developed,which verifies the rationality and feasibility of the design scheme.
At present the aircraft porthole cleaning still adopts the manual work with large labor intensity and low working efficiency,and the traditional climbing robot can not be adsorbed and move on the curved surface.In this paper,aquadruped climbing robot is designed,which can move on the curved surface and clean the aircraft porthole.Aiming at the non-symmetrical aircraft porthole with changed curvature,the static analysis of the robot is carried out,to obtain the parameter of robot structure and verify its safety.The kinematics model of each leg is set up by D-H method,and the transformation matrix form the joint space to the position space of end suction is obtained.Finally,the control system of robot is designed,and a prototype robot is developed,which verifies the rationality and feasibility of the design scheme.
引文
[1]邢志伟,高庆吉,党长河.飞机蒙皮检查机器人系统研究[J].机器人,2007(5):474-478,484.
[2]衣正尧,弓永军,王兴如,等.船舶除锈爬壁机器人设计方案研究[J].机床与液压,2010,38(7):65-67,25.
[3]员超,张刚,孙进生,等.高层建筑喷涂机器人系统研究[J].机器人,2002(3):239-243.
[4]曾国繁.四足机器人的步态设计与控制[D].北京:电子科技大学,2015:9-12.
[2]衣正尧,弓永军,王兴如,等.船舶除锈爬壁机器人设计方案研究[J].机床与液压,2010,38(7):65-67,25.
[3]员超,张刚,孙进生,等.高层建筑喷涂机器人系统研究[J].机器人,2002(3):239-243.
[4]曾国繁.四足机器人的步态设计与控制[D].北京:电子科技大学,2015:9-12.