摘要
夹持举升机构是无杆飞机牵引车同飞机直接相连接的部分,需要完成夹持机轮并抬离地面的动作。建立了常见的夹持举升机构的机构简图,利用K-G公式计算夹持举升机构的自由度。以D-H变换矩阵作为建模工具,建立其位姿运动方程,求出其解析正解,利用解析法求出其理论的速度表达式。结果表明:机构的自由度数与机构主动件的数目相同,具有唯一的确定运动,D-H变换矩阵与几何方法求出的位姿表达式相同,角度变换的仿真结果与理论计算值近似。证明了机构的有效性,并为夹持举升机构的创新设计和进一步的机构综合提供了参考。
Clamping and lifting mechanism is the part of tow-bar-less aircraft tractor directly connected with aircraft,which is needed to clamp wheel and lift it off the ground. Schematic diagram of common clamping and lifting mechanisms was established,degree of freedom( DOF) for the mechanisms was calculated with Kutzbach-Grübler formula. The motion equations of position and orientation were established with Denavit-Hartenberg( D-H) transformation matrix as a tool of modeling. Its analytical positive solution was acquired,and the theoretical velocity expression was acquired by analytical method. The result indicates that number of DOF is the same as number of active driving parts of the mechanism,which have exclusive determined movements. Position and orientation expression in D-H transformation matrix method is same with geometric,and the simulation result of angular transformation is approximately the same as theoretical calculation value,which proves validity of the mechanism. What's more,it provides a reference for innovative design and further mechanism synthesis of the clamping and lifting mechanism.
出处
《机床与液压》
北大核心
2015年第23期54-57,15,共5页
Machine Tool & Hydraulics
基金
国家自然科学基金委员会与中国民航局联合资助项目(U1233106)
中央高校基本科研业务费专项资金资助项目(ZXH2012H007)
中国民航大学校级科研项目(2012KYE05)
关键词
无杆飞机牵引车
夹持举升机构
运动学
Tow-bar-less aircraft tractor
Clamping and lifting mechanism
Kinematics
