飞机油箱检查机器人的仿生结构及运动学研究
收稿日期: 2012-09-11
修回日期: 2012-10-31
网络出版日期: 2012-12-27
基金资助
中央高校基本科研业务费专项资金(ZXH2011D008)
Study of Bionic Structure and Kinematics of Robot for Aircraft Fuel Tank Inspection
Received date: 2012-09-11
Revised date: 2012-10-31
Online published: 2012-12-27
Supported by
The Fundamental Research Funds for the Central Universities (ZXH2011D008)
高庆吉 , 王维娟 , 牛国臣 , 王磊 , 郑遵超 . 飞机油箱检查机器人的仿生结构及运动学研究[J]. 航空学报, 2013 , 34(7) : 1748 -1756 . DOI: 10.7527/S1000-6893.2013.0289
The mechanical structure of a robot is designed based on bionics to meet the inspection requirements of aircraft fuel tank with high space constraints and explosive air. The robot consists of multiple flexible continuous sections whose bending and rotating are controlled with a cable-driven mode. For the continuous single section of flexible features, the methods of projection curvature and virtual coordinates are used to establish the mapping relationships among the cable length, single section angle and end-effector orientation. The decoupled kinematics between the multi-sections is developed based on the analysis of single-joint kinematics. Then the reachability of the robot is verified through a three-dimensional simulation experiment. Finally, the athletic ability of the robot and the validity of the proposed kinematic method are verified through prototype experiments.
Key words： aircraft fuel tanks; bionic structure; continuum; cable-drive; kinematics
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