基于悬链线载荷模型的飞机加油车机械臂结构设计

Catenary-Based Structural Design of Robotic Arm for Aircraft Refueling Vehicles

摘要: 本研究针对飞机管线加油车机械臂的结构强度、收纳空间及稳定性问题，提出了一种基于悬链线载荷模型建模的设计方案。通过SolidWorks完成机械臂三维建模，基于悬链线理论计算油管载荷，结合Workbench进行静力学与滑移仿真，验证结构薄弱点及底座抗倾覆性能；同时利用MATLAB建立D-H坐标系，生成机械臂可达空间点云图，可视化工作范围，便于后续安装开发。结果表明，该机械臂最大伸展距离达12.28 m，滑移位移控制在0.1 mm以内，折叠态关节盲区占比低于4.5%。该研究为航空加油设备智能化升级提供了理论与技术支撑。

Abstract: This study addresses the structural strength, compact storage, and stability challenges of robotic arms for aircraft pipeline refueling vehicles by proposing a design framework based on catenary-based load modeling. A 3D model of the robotic arm was constructed in SolidWorks, and the dynamic loads induced by fuel hoses were calculated using catenary theory. Static mechanics and sliding simulations were performed in Workbench to identify structural weak points and validate the anti-overturning performance of the base. Simultaneously, the Denavit-Hartenberg (D-H) coordinate system was implemented in MATLAB to generate a point cloud diagram of the robotic arm’s reachable workspace, visualizing the operational range to guide subsequent installation and development. The results demonstrate that the optimized robotic arm achieves a maximum extension distance of 12.28 meters, limits sliding displacement to within 0.1 mm, and reduces joint blind zones in the folded configuration to below 4.5%. This research provides theoretical and technical foundations for the intelligent upgrading of aviation refueling equipment.