›› 2013, Vol. 31 ›› Issue (4): 15-18.

• Civil Aviation • Previous Articles     Next Articles

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

JIN Yu-yang1a,1b,2,GAO Qing-ji1b,TIAN Liu-fen1b,XIAO Yao1b,LUO Qi-bing1b   

  1. (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

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

CLC Number: