机器人化飞机表面清洗车轨迹规划及控制系统设计  

Design of Trajectory Planning and Control System for Robotized Cleaning Vehicle of Aircraft's Surface

作　　者：李景春[1] 蒋玉洁[1] 张国忠[2] 

机构地区：[1]沈阳航空工业学院机械与汽车学院,辽宁沈阳110034 [2]沈阳大学机械工程学院,辽宁沈阳110044

出　　处：《沈阳大学学报》2008年第2期11-13,18,共4页

摘　　要：阐述了机器人化飞机表面清洗车的机械结构、动作原理、轨迹规划算法及仿真试验系统设计、电控系统设计.该清洗车的清洗立架由一个冗余机器人手臂构成,能够自主地灵活地完成各种复杂轨迹的运动,可以自动完成对不同类型的飞机表面清洗工作,具有一定的实用价值.The mechanical structure working principle, design of trajectory planning arithmetic and simulation test system are described, as well as electrical control system design of robotized cleaning vehicle of aircraft. Its cleaning frame is made up of redundant flexible manipulator, it can finish all kind of complex tracking motion automatically and it has a practical value in finishing different type airplane＇s cleaning work automatically.

关 键 词：机器人 飞机清洗车 轨迹规划 仿真试验 电控系统 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]