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提出了一种新型无杆飞机牵引车机轮举升机构。该机构可控制承载斗实现移动和转动的复合运动。在建立了运动学逆解及速度映射模型的基础上,基于雅克比矩阵的奇异值理论,以机构操作性能为评价指标,研究了该举升机构的尺度综合问题。采用约束坐标轮换法来寻求评价函数的最优解,并讨论了尺度参数对操作性能的影响规律,进而验证了该方法的有效性。
A new type of rodless aircraft tractor wheel lift mechanism is proposed. The mechanism can control the carrying bucket to achieve the combined movement of movement and rotation. Based on the kinematic inverse solution and the velocity mapping model, based on the Jacobi ’s singular value theory and the mechanism performance, the scale synthesis problem of the lifting mechanism is studied. The constrained coordinate rotation method was used to find the optimal solution of the evaluation function. The influence of scale parameters on the operation performance was discussed, and the validity of the method was verified.