基于D-H 法的飞机表面清洗臂运动学分析及仿真

金玉阳，高庆吉，田刘芬，肖瑶，罗启冰

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

JIN Yu-yang,GAO Qing-ji,TIAN Liu-fen,XIAO Yao,LUO Qi-bing

中国民航大学学报 . 2013, (4): 15 -18 .