基于ADAMS的飞机表面清洗臂动力学仿真与分析.pdf

《基于ADAMS的飞机表面清洗臂动力学仿真与分析.pdf》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、Jun．2015HydromechatronicsEngineeringVl01．43No．12HydromechatronicsEngineeringhttp：／／jdy．qks．cqut．edu．cnE—mail：jdygcyw@126．comDynamicsanalysisandsimulationforaircraftsurfacescleaningmanipulatorbasedonADAMSYu—ymagJIN'，Ming—luZHANG，Jin—boYAO，Chang-juanYU

2、(HebeiUniversityofTechnol·9gy，Tianjin300130，China)(RoboticsInstitute，CivilAviationUniw,rsityofChina，Tianfin300300，China)Abstract：Focusingonthe5一DOF(Degree—of-Freedom)serialrobotforcleaningaircraftsurfaces，thedynamicmodelofthecleaningmanipulatorisesta

3、blishedbyusingLagrange’sequations，Solidworkswasutilizedtoestab—lishthevirtualmodelofthecleaningmanipulator，then，themodelwasimportedintoADAMStogeneratethevir-tualprototype，andthroughcarryingonthedynamicsinmlationandanalysis，weobtainedtherelationcurves

4、ofjointanglesandjointtorques，anddeterminedtheinputjointtorquerequired，whichprovidesareliablebasisforthecontrolandtypesofjointdriving．Keywords：Robot，Kinematics，Dynamics，ADAMS，Lagrange’sequationsdoi：10．3969／j．issn．1001-3881．2015．12．007Documentcode：Aequ

5、ivalentsetsoftheequations[1]，anditisdifficulttorealizereal-timecontro1．Forexample，thelitera-ture[2-4]studiedthestructuredesignanddynamicCleaningrobotforaircraftsurfacesisanimportantproblemsofserialmanipulator．Theliterature[5]es-dailymaintenanceequipm

6、entofthefuselage，thetablishedthedynamicsequationofthereconfigurablecleaningmanipulatorasthecorecomponentofclean-robotbasedonscrewtheorybyusingLagrange’se-ingrobotforaircraftsurfaces，whichisatypicaljibquations，whichhasrealizedtheconversionofthesystem，

7、sotherationalityofitswholestructureandtorqueindifferentcoordinatessystems，andthecon-dynamicperformancewilldirectlyinfluencethework—versionoftheforceoftheend—effectorandthetorqueingperformanceofthewholerobot．Inrecentyears，ofeachjoint．Literature[6]calc

8、ulatedtherelativeki—duetothedevelopmentofcontroltechnologyandnewneticenergyofthecraneshipbyusingLagrange’se—materials，themanipulatorsdeveloptowardlight-quations，andobtaineddynamicsequationoftheboomweight，highprecisionandhigh—speed，therefore，dy—andpay