Large Contact Area Trajectory Planning Algorithm for Fuel Tank with Irregular Surfaces
When the robot uses the flat scrub head to clean the outer surface of the fuel tank, the recessed structure near the ends of the fuel tank cannot be in good contact. In this paper, the outer contour of the fuel tank is detected by laser ranging sensor and described by NURBS curve. The interference between the scrub head and the fuel tank is divided into 16 cases. It is further divided into 4 types, and different adjustment algorithms are studied for different types. The article also studies the motion characteristics of the end trajectory. The results show that the proposed algorithm can greatly improve the contact area between the scrubbing head and the fuel tank surface, and ensure that the motion characteristic curve is smooth and will not impact the robot.
KeywordsOutline description NURBS Trajectory planning Irregular surface
This thesis is supported by the major sub-item of “High-Grade CNC Machine Tools and Basic Manufacturing Equipment” of the major science and technology project “Aerospace Lightweight Structures Complete Manufacturing Equipment Demonstration Line (2017ZX04005001).”
- 1.Jones, R.D., Gurley, D., Bruer, K., et al.: Dry ice cleaning of metal surfaces to improve welding chatacteristics. Google Pantents (2012)Google Scholar
- 5.Guoqiang, C., Rui, Z.: Review on high pressure water jet. J. Shenyang Aerosp. Univ. 6, 1–16 (2017)Google Scholar
- 7.Space Research; New Data from Wroclaw University of Environmental and Life Sciences Illuminate Findings in Space Research (Characteristics of Goce Orbits Based On Satellite Laser Ranging). Science Letter (2019)Google Scholar