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作 者:张积洪[1] 任磊[1,2] 王功 ZHANG Ji-hong REN Lei WANG Gong(College of Aviation Automation, Civil Aviation University of China, Tianjin 300300 State Grid General Aviation Company Limited,Beijing 102209)
机构地区:[1]中国民航大学航空自动化学院,天津300300 [2]国网通用航空有限公司,北京102209
出 处:《机械设计》2017年第9期59-64,共6页Journal of Machine Design
基 金:中国民用航空局科技基金资助项目(MHRD0609);中央高校基本科研业务费专项资金资助项目(ZXH2012G005)
摘 要:机场嵌入式灯具是保证机场运行安全与运行效率的重要设备,现今对于灯具的拆装只能通过纯人工方式,耗时费力且影响机场地面保障作业效率。对嵌入式灯具自动拆装装置进行结构设计,并在机器人学基础上对装置机械臂结构进行运动学分析,得到运动学正解、逆解与雅可比矩阵;运用虚拟样机技术对机械臂收起过程进行了动态仿真;应用MATLAB绘制了机械臂末端理论轨迹曲线与仿真轨迹曲线,并对二者进行分析,表明运算结果正确、装置结构合理。应用蒙特卡洛法进行装置的工作空间分析,绘制末端机构工作空间点云图,表明装置在工作空间内无结构碰撞,可完成作业任务。Airport embedded lighting is an important device to ensure safety and efficiency of airport operations, at present, lamps disassembly is operated by manual labor which is time-consuming and influencing airport ground support operation efficiency. Automatic removable device of embedded lighting was designed. Based on robotics, the kinematic of the manipulator structure and gained the forward kinematics was analyzed, inverse solution and Jacobi matrix was worked out. Dynamic simulation of the pickup process was achieved using virtual prototype technology. The arm end theory trajectory curve and the simulation trajectory curve were drawn with MATLAB, the analysis was finished. Analysis result shows that the calculation is correct and the device structure is reasonable. Working space was analyzed by Monte Carlo method, and the end workspace point cloud was drawn, it indicating that the device has no structured collision in workspace and can complete the task.
分 类 号:TH122[机械工程—机械设计及理论] TP241[自动化与计算机技术—检测技术与自动化装置]
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