无杆飞机牵引车机轮举升机构的概念设计与尺度综合  

Conceptual design and dimensional synthesis of nosewheel lifting mechanism in a towbarless aircraft towing tractor

作　　者：洪振宇[1] 许致华[1] 张志旭[1] 王岳飞[1] 

机构地区：[1]中国民航大学航空自动化学院,天津300300

出　　处：《机械设计》2013年第11期47-52,共6页Journal of Machine Design

基　　金：民航局科技资助项目(MHRDZ201013)

摘　　要：提出了一种新型无杆飞机牵引车机轮举升机构。该机构可控制承载斗实现移动和转动的复合运动。在建立了运动学逆解及速度映射模型的基础上,基于雅克比矩阵的奇异值理论,以机构操作性能为评价指标,研究了该举升机构的尺度综合问题。采用约束坐标轮换法来寻求评价函数的最优解,并讨论了尺度参数对操作性能的影响规律,进而验证了该方法的有效性。A novel nosewheel lifting mechanism of towbarless aircraft towing tractor is presented.The compound motion of the carrying bucket,which including shift and rotation,is controlled by the mechanism.Manipulability is taken as evaluating index and dimensional optimization of the lifting mechanism is studied,which based on inverse kinematics and velocity mapping model and the singular value theory of Jacobin matrix.Constraint method of coordinate alternation is adopted to seek the optimal solution of the evaluation function.The influence law of scale parameters to manipulability of the mechanism is discussed.So the effectiveness of the method is proved.

关 键 词：无杆飞机牵引车 机轮举升机构 运动学模型 

分 类 号：V351.34[航空宇航科学与技术—人机与环境工程]