基于同伦连续法的飞机舱门提升机构轨迹综合  

Trajectory Synthesis of Aircraft Cabin Door Lifting Mechanism Based on the Homotopy Continuation Method

作　　者：彭继友 杭鲁滨 刘安心[3] 吴柏锐 黄晓波 吴扬[4] Peng Jiyou;Hang Lubin;Liu Anxin;Wu Borui;Huang Xiaobo;Wu Yang(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components,Shanghai 201620,China;Engineering Institute of Engineering Corps,PLA University of Science and Technology,Nanjing 210007,China;Shanghai Aircraft Design and Research Institute,Shanghai 201210,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620 [2]上海市大型构件智能制造机器人技术协同创新中心,上海201620 [3]解放军理工大学工程兵工程学院,江苏南京210007 [4]上海飞机设计研究院,上海201210

出　　处：《机械传动》2023年第2期53-59,共7页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51475050);上海汽车工业科技发展基金会资助项目(1617);上海市大型构件智能制造机器人技术协同创新中心开放基金(ZXY20211101)。

摘　　要：飞机舱门是进出机舱的通道,其机身导向槽中心线与提升机构末端导向轮运动轨迹重合,保证了舱门开启/锁止可靠。以有序单开链方法建立提升机构2个单开链单元轨迹综合运动学方程组;方程组变量齐次化分组,其Bezout数仅为320,减少同伦跟踪路径;分别进行初始方程组构造和同伦方程组求解,求得了6组杆长非负实数构形解,绘制了单开链单元组合的对应构形。以机构运动空间和提升机构力传递效率进行构形筛选,得到了可实现飞机舱门按期望轨迹运动的舱门提升机构。The aircraft cabin door is a passage channel of the cabin. The center line of the fuselage guide groove shall coincide with the movement track of the guide wheel at the end of the lifting mechanism, ensuring the reliable opening/locking of the cabin door. Based on the ordered single open chain method, the trajectory synthesis kinematic equations of two single open chain units of the lifting mechanism are established;the variables of the equations are grouped into homogeneous groups and the Bezout number is only 320, which reduce the homotopy tracking path;by constructing the initial equations and solving the homotopy equations,six sets of non-negative real number configuration solutions of rod length are obtained, and the corresponding configuration of single open chain element combination is drawn. Based on the motion space of the mechanism and the force transmission efficiency of the lifting mechanism, the door lifting mechanism to realize the movement of the aircraft door according to the desired trajectory is obtained.

关 键 词：飞机舱门 提升机构 轨迹综合 同伦方程组 机构构形 

分 类 号：V223.9[航空宇航科学与技术—飞行器设计]