Research On Mechanical Arm That Operates Switch

The pilots are important insurance for the safe flight of aircraft.However,due to the strict physical examination standards and long-term training,the number of mature pilots grows slowly.The research of aircraft cockpit robot comes to be paid attention to.As a part of aircraft cockpit robot,the mechanical arm for operates switch researched in this dissertation use machine vision as an auxiliary way to collect and process the images of rotary switch and button switch on the cockpit overhead panel,and get the coordinate information.The mechanical arm controls the switch according to the coordinate information.The machine vision part is studied the recognition of the center point of rotary switch and button switch.Camera is used for machine vision to collect the image of switch panel,extract the switch feature information,and segment the target switch from the image through image filtering,morphological processing and maximum stable extremum region algorithm.Finally,the center point coordinate information of the target switch is determined.The mechanical arm part is studied mathematical modeling of mechanical arm,the solution of forward and inverse kinematics equations and the research of trajectory planning method.Based on the transformation relationship between the joints and connecting rods of the mechanical arm,the knematics mathematical model of the mechanical arm is established by using D-H method,and the forward and inverse kinematics equations of the mechanical arm are solved.The correctness of the forward and inverse kinematics solutions of the mechanical arm is verified through MATLAB simulation.Trajectory planning method research joint space trajectory planning and Cartesian space trajectory planning.The former research the interpolation function and constraints of interpolation method,which makes the motion curve of each joint of mechanical arm smooth and smooth in joint space;the latter research that the linear and circular trajectory of the end effector of the mechanical arm is interpolated between the initial point and the stop point,and the mechanical arm moves according to the corresponding joint rotation angle obtained from these interpolation points to obtain the motion trajectory of the end effector.The experiments of turning the rotary switch and pressing the button switch are completed by the way which is combined with the research of machine vision,mechanical arm kinematics and trajectory planning.