摘要
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.
作者
张宏伟
赵修锟
张天刚
ZHANG Hong-wei;ZHAO Xiu-kun;ZHANG Tian-gang(Engineering Technology Training Center,Civil Aviation University of China,Tianjin 300300,China;School of Aeronautical Engineering,Civil Aviation University of China,Tianjin 300300,China)
出处
《计算机仿真》
2024年第2期38-43,440,共7页
Computer Simulation
基金
国家自然科学基金(U2033211)
航空科学基金(2020Z049067002)。
关键词
飞机清洗
运动学
改进粒子群算法
轨迹优化
Aircraft cleaning
Kinematics
Improved particle swarm optimization
Trajectory optimization