Topological structure design of cleaning manipulator for aircraft surfaces based on single-open-chain

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.