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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。
In view of the difficulty of locomotive crew inspecting the fuel tank, a continuous robot is designed. According to the structure characteristics and movement mechanism of the snake vertebra, the ball cage universal joint and the cylindrical coil spring are adopted as the main body of the joint section of the continuous structure to improve the load capacity of the robot. The kinematic model of continuous structure was obtained based on the constant velocity motion of the ball joint. This article designs the hardware system and the control flow chart according to the design principle, among them the hardware system includes the upper computer module, the continuous type organization control module, the continuous type organization. Finally, a prototype experiment was carried out. The results show that the designed continuous fuel tank inspection robot has a strong load capacity. This continuous structure design is reasonable and practical.