针对航空航天领域的复杂曲面的复合材料的检测需求,设计一套5轴联动的检测装置,根据Denavit-Hartenberg(D-H)方法推导出模型的运动学方程,然后利用Rhino软件获取物体表面各离散点的坐标及法向量信息,最终根据运动学方程的逆解控制检测装置各关节的移动量,实现复杂曲面扫查.%To meet the requirement for testing composite materials with complex surfaces in the aerospace field,this paper designs a 5-axis testing device.The kinematical equation of the model is deduced in the Denavit-Hartenberg (D-H) method.Then,the coordinates and normal vector information of discrete points on the surface of the object are obtained by use of Rhino software.Finally,amounts of movement of the joints of the inspection device are controlled through inverse solution of kinematical equation to realize scanning of complex surfaces.
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