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Multi-level Control Program Structure for Aircraft Surface Spray

WANG Zhaohui, CHEN Ken, WU Liao, MIAO Dongjing   

  1. Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China
  • Received:2012-05-14 Revised:2012-08-21 Online:2013-04-25 Published:2013-04-23
  • Supported by:

    National Natural Science Foundation of China (50975148); National High-tech Research and Development Program of China(2009AA043701) *Corresponding author. Tel.: 010-62773266 E-mail: kenchen@tsinghua.edu.cn

Abstract:

To realize aircraft surface automatic spray by robotic technology, a trajectory planning technology for aircraft surface spray is proposed and a location method for spraying work is presented according to the geometric features of aircraft outside surface. Based on these, a multi-layer control program structure is classified into three layers, i.e., a main logic layer, a control programming layer, and an auxiliary function layer. The running of the whole program system is managed by the main logic layer, which could call modules in the control program layer and auxiliary function layer. The control program layer includes some control program modules of the subareas of the aircraft surface, and the auxiliary function layer includes the spraying process parameters, movement parameters, and system calibration parameters, etc. To quickly generate a control program structure, an offline programming method for aircraft outside surface spray is presented. The efficiency and maintainability of the method are proved in a surface spray on an aircraft model.

Key words: spraying robot, trajectory planning, offline programming, distributed, control program structure

CLC Number: