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机场嵌入式灯具是保证机场运行安全与运行效率的重要设备,现今对于灯具的拆装只能通过纯人工方式,耗时费力且影响机场地面保障作业效率。对嵌入式灯具自动拆装装置进行结构设计,并在机器人学基础上对装置机械臂结构进行运动学分析,得到运动学正解、逆解与雅可比矩阵;运用虚拟样机技术对机械臂收起过程进行了动态仿真;应用MATLAB绘制了机械臂末端理论轨迹曲线与仿真轨迹曲线,并对二者进行分析,表明运算结果正确、装置结构合理。应用蒙特卡洛法进行装置的工作空间分析,绘制末端机构工作空间点云图,表明装置在工作空间内无结构碰撞,可完成作业任务。
Airport built-in lighting is to ensure the safety and operation of the airport an important device, now for the disassembly of lamps can only be purely manual, time-consuming and affect the airport ground operations efficiency. The structural design of the automatic disassembly device of the embedded luminaire is carried out. The kinematics analysis of the arm structure of the device is carried out based on the robotics to obtain the positive kinematic solution, the inverse solution and the Jacobian matrix. The virtual prototyping technology is applied to the mechanical arm retraction process The dynamic simulation is carried out. The theoretical trajectory curve and simulation trajectory curve of the end of the manipulator are drawn by MATLAB, and the two are analyzed, which shows that the computing result is correct and the device structure is reasonable. The Monte Carlo method was used to analyze the working space of the device, and the point cloud map of the end-agency working space was drawn, indicating that the device has no structural collision in the working space and can accomplish the task.