连续型飞机油箱检查机器人设计与实现

针对机务人员检查飞机油箱难度大的问题,设计了一种连续型机器人.根据蛇类脊椎骨结构特征和运动机理,采用球笼式万向节和圆柱螺旋弹簧作为连续型结构的关节段主体,以提高机器人的负载能力.基于对球笼式万向节等速运动特性获得了连续型结构的运动学模型.本文根据设计原则设计了硬件系统和控制流程图,其中硬件系统包括上位机模块、连续型机构控制模块、连续型机构.最后进行了样机实验,结果表明设计的连续型飞机油箱检查机器人具有较强负载能力,这种连续型结构设计具有合理性和实用性.

Design and realization of the continuum aircraft fuel tank inspection robot

In order to overcome the difficulty of aircraft fuel tank inspection for crew, a continuum aircraft tank inspection robot was designed in this paper.Based on the structural characteristics and movement mechanism of snake vertebrae, the rzeppa universal joint and the cylindrical helical spring were adopted as the main body of continuum structure to improve the load capacity.Based on the isokinetic feature of rzeppa universal joint, the kinematics was obtained.The hardware system was realized including the host computer module, continuum structure control module and continuum structure, and the control flow charts were designed.Finally prototype experiments were performed, and the experimental results confirmed the strong load capacity and practicality of the continuum robot.