Title :
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
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;
Conference_Titel :
Mechatronic Sciences, Electric Engineering and Computer (MEC), Proceedings 2013 International Conference on
Conference_Location :
Shengyang
Print_ISBN :
978-1-4799-2564-3
DOI :
10.1109/MEC.2013.6885170
