六自由度飞机清洗臂运动学建模与轨迹优化

Kinematic Modeling and Trajectory Optimization of Six-DOF Aircraft Cleaning Arm

传统飞机清洗车由于关节运动不稳定,清洗时间长,清洗效率低造成无法对机身蒙皮进行快捷高效清洗。针对心目问题,设计了六自由度飞机清洗臂,为验证机械臂的运动性能,运用改进D-H法进行运动学分析得到机械臂末端转换矩阵,设计了GUI计算运动学正逆解。并提出将改进粒子群算法与3-5-3分段插值相结合的方法对飞机清洗臂进行时间最优轨迹规划。通过仿真结果显示,与传统3-5-3多项式插值相比,上述方法在保证运动稳定性的同时缩短了运动时间。为以后飞机清洗臂的路径规划与控制问题的研究奠定了基础。

Traditional aircraft cleaning vehicles,due to unstable joint movement,long cleaning time,and low cleaning efficiency,are unable to quickly and efficiently clean the fuselage skin.In response to this problem,a 6-DOF aircraft cleaning robot was designed.In order to verify the kinematic performance of the robot,the improved D-H method was used for kinematic analysis to obtain the end-of-arm conversion matrix.A GUI was designed to calculate kinematic positive and negative solutions.In addition,a method combined the improved particle swarm optimization with 3-5-3 segmental interpolation was proposed to plan the time-optimal trajectory of the aircraft cleaning arm.Simulation results show that compared with the traditional 3-5-3 polynomial interpolation,this method can shorten the motion time while ensuring motion stability,which lays some foundation for the study on path planning and control problems of aircraft cleaning arms.