Topological structure design of cleaning manipulator for aircraft surfaces based on single-open-chain

Author

Jin Yuyang ; Zhang Minglu ; Gao Qingji ; He Xin ; Wang Qiang

Author_Institution

Hebei Univ. of Technol., Tianjin, China

fYear

2013

fDate

20-22 Dec. 2013

Firstpage

810

Lastpage

813

Abstract

Based on topological structure design theory and method of Position and Orientation Characteristics, the thesis analyzed the topological characteristics of serial robot with six degrees of freedom and synthesized the single-open-chain mechanisms containing five revolute joints and one prismatic joints. And then two mechanism which summarizes two topological structures meeting 5R1P optimized index has been designed. Theoretical innovative approaches of single-open-chain mechanism for application in aircraft cleaning are put forward.

Keywords

cleaning; design engineering; manipulators; position control; service robots; aircraft cleaning; aircraft surface; cleaning manipulator; orientation characteristics; position characteristics; prismatic joints; revolute joints; single-open-chain mechanism; topological structure design; Cleaning; Joints; Manipulators; Periodic structures; Robot kinematics; System-on-chip; mechanism singularities; robot; topological structure design;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronic Sciences, Electric Engineering and Computer (MEC), Proceedings 2013 International Conference on

Conference_Location

Shengyang

Print_ISBN

978-1-4799-2564-3

Type

conf

DOI

10.1109/MEC.2013.6885170

Filename

6885170