基于D-H 法的飞机表面清洗臂运动学分析及仿真

中国民航大学学报 ›› 2013, Vol. 31 ›› Issue (4): 15-18.

基于D-H 法的飞机表面清洗臂运动学分析及仿真

金玉阳^1a,1b,2，高庆吉^1b，田刘芬^1b，肖瑶^1b，罗启冰^1b

（1.中国民航大学a.机场学院；b.机器人研究所，天津 300300；2.河北工业大学机械工程学院，天津 300130）

收稿日期:2012-11-15 修回日期:2013-04-05 出版日期:2013-08-25 发布日期:2013-10-08
作者简介:金玉阳（1978—），女，吉林榆树人，讲师，博士研究生，研究方向为机器人技术.
基金资助:
国家级大学生创新创业训练计划项目（201210059028）

Kinematics analysis and simulation for aircraft surface cleaning manipulator based on D-H

JIN Yu-yang^1a,1b,2,GAO Qing-ji^1b,TIAN Liu-fen^1b,XIAO Yao^1b,LUO Qi-bing^1b

(1a. Airport College;1b. Robotics Institute,CAUC,Tianjin 300300,China;2. School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China)

Received:2012-11-15 Revised:2013-04-05 Online:2013-08-25 Published:2013-10-08

摘要/Abstract

摘要：

针对飞机表面的非结构化特征，设计了用于飞机表面清洗的串联机械臂。确定了机械臂的自由度和运动形式，采用改进的D-H 法分析了其正、逆运动学，并运用Matlab 软件对机械臂进行初步的轨迹规划仿真，验证了正、逆运动学的正确性。

关键词: 飞机清洗, 机械臂, 运动学分析, Matlab仿真

Abstract:

Regarding unstructured characteristics of aircraft surface,serial mechanical manipulator used for aircraft cleaning is designed,DOF and structural configuration of mechanical manipulators are confirmed,directkinematics and inverse kinematics are analysed with the improved D-H method. Trajectory planning of mechanical manipulators is simulated by Matlab and the results show that the kinematics analysis is correct.

Key words: aircraft cleaning, manipulator, kinematics, Matlab simulation

中图分类号:

金玉阳，高庆吉，田刘芬，肖瑶，罗启冰. 基于D-H 法的飞机表面清洗臂运动学分析及仿真[J]. 中国民航大学学报, 2013, 31(4): 15-18.

JIN Yu-yang,GAO Qing-ji,TIAN Liu-fen,XIAO Yao,LUO Qi-bing. Kinematics analysis and simulation for aircraft surface cleaning manipulator based on D-H[J]. , 2013, 31(4): 15-18.