飞机油箱检查机器人结构与运动学分析

《飞机油箱检查机器人结构与运动学分析》由会员上传分享，免费在线阅读，更多相关内容在行业资料-天天文库。

1、AbstractFuelleakageofAircraftwillleadtowasteofresource,increasecosts,andevenaviationaccidents.Toguaranteetheflightsafety,theperiodicallycheckoftheaircraftfueltankleaksisneeded.Theleakageandcorrosioncheckofaircraftfueltankhasbeenquiteadifficultproblemincivilaviationmain

2、tenanceefficiency.Atpresent,internalsealingtankinspectionimplementedmainlythroughartificialmeans,however,thetankismixedwithoilandgasandhastheriskofflammableandexplosive.Therefore,It'surgenttofindasubstituteofstaffinaircraftfueltankinternalbyworkers.Atfirst,thestructure

3、oftherobotforinspectinginternalaircraftfueltankbasedonthecharacteristicsofcontinuous-typestructurehasbeendesigned.Therobotincludessnakearmandlinermodel，andsnakearmcanreachintothefueltankeverywhere,thelinermodeloutsidethetanksupportandguidancethesnakearm.Insideandoutsid

4、ewithrigid-flexiblecombinationoffeaturesmaketherobotinspectaircraftfueltankefficientlyandreliably.Then,therobotisdrivenbyfourwireropesthroughremote-control-method,thismethodisdifferentfromotherrobotsdirectlydrivenbytheelectricmotor.Thuskinematicsanalysismusttakethedriv

5、ingcableslengthvariablesintoconsideration.Asolutionframeworkisestablishedamongthecableslength,angleandtipcoordinateofsinglesectionbyprojectioncurvatureandcoordinatestransformation.Thedecoupledkinematicsequationbetweenthemulti-sectionsisdeducedbasedontheanalysisofsingle

6、-sectionkinematics.Finally,basedonthemechanicalstructureoffueltankinspectionrobot,designofthehardwaresystemandsoftwaresystems.Then,thefeasibilitytoinspectfueltankoftherobothasbeenverifiedthroughthree-dimensionsimulationexperiment;thebendingandrotationcapacityandcorrect

7、nessoftheproposedkinematicsmethodhasbeenverifiedthroughprototypeexperiments.Keywords:AircraftFuelTank;LeakInspection;ContinuumStructure;Cable-driven;KinematicsII万方数据目录摘要....................................................................................................

8、.......................................IAbstract.....................................................................