Kinematic And Dynamic Analysis Of Clamping And Lifting Mechanism In Towbarless Aircraft Tractor

Towbarless Aircraft Tractor(TBLT) is main ground support equipment to move plane at the airport. Its effectiveness and efficiency have decisive influence on airport`s ground traffic.Clamping and lifting mechanism is the key part of towbarless aircraft tractor that directly connecting with the aircraft. The mechanism executes a motion of clamping aircraft wheel and lifting it off ground. Design and function of clamping and lifting mechanism decide effectiveness and efficiency of towbarless aircraft tractor. Researching on this mechanism is earlier abroad. More and more attention has been paid on manufacture and research for this mechanism, current domestic level of designing and manufacturing is in backward status with a big gap.Firstly, to introduce working principle, domestic and foreign research of aircraft tractor and it's clamping and lifting mechanism. Theoretical forward kinematics analysis has been taken for two common kinds clamping mechanism. Calculating position matrix and velocity jacobian matrix of two kinds of mechanism Meanwhile, a motion simulation is also been carried on. Comparing theoretical solution with simulation solution of speed on rotary clamping arm. Through browsing domestic and overseas related articles and patents of clamping and lifting mechanism and imitating thought of metamorphic mechanism, based on design criteria and operation specification of clamping and lifting mechanism, a new type clamping and lifting mechanism in towbarless aircraft tractor is proposed. According to schematic diagram of mechanism, position and orientation matrixes are established with Denavit-Hartenberg method. Modeling a three-dimensional model utilizing Solidworks for this new mechanism. What's more, a kinematics simulation is carried out using Motion module. Put theory formula into Matlab and compare theory resolution and simulation to evaluate correctness and practical feasibility of this design. Establish a finite element model of mechanism in Workbench and take a static analysis, calculating deformation nephograms and strain nephograms. Model analysis is resulted of main stress component — carrying bucket. Inherent frequency and inherent vibration are required at the same time.