Aeronautics and astronautics – Aircraft structure – Ice prevention
Patent
1993-06-11
1995-10-03
Huppert, Michael S.
Aeronautics and astronautics
Aircraft structure
Ice prevention
244134C, 901 43, B64D 1500
Patent
active
054545331
ABSTRACT:
An aircraft servicing system comprises four robot arms mounted to the ground so as to form a lane with the base of two of the robot arms delineating one side of the lane and the base of the other two robots delineating the other side of the lane. The robot arms may assume a low position which allows an aircraft's wings to pass over the arms while the aircraft enters the lane between the arms. Thereafter, the arms may be moved so that a nozzle array at the end of each arm may de-ice or wash the aircraft. Subsequently, the arms may again assume a low position to allow the aircraft to leave the lane. Each robot arm has an elongated member connected to the base by a yaw joint, a first arm segment connected to the elongated member by a pitch joint, second arm segment connected to the first arm segment by a pitch joint, and a third arm segment connected to the second arm segment by a telescoping joint. This gives the arm the needed range of motion and provides one degree of redundancy so that the arm has some freedom of movement while the end effector is stationary in free-space. This allows the arm to be reconfigured as necessary, on a dynamic basis, so as to anticipate possible singularities and avoid these. The system has application for servicing other large structures, such as the hull of a dry docked ship.
REFERENCES:
patent: 3439372 (1969-04-01), Collier
patent: 4220170 (1980-09-01), Herbert et al.
patent: 4239431 (1980-12-01), Davini
patent: 4630567 (1986-12-01), Bambousek et al.
patent: 4654087 (1987-03-01), Fujita
patent: 4693664 (1987-09-01), Schweiker
patent: 5104068 (1992-04-01), Krilla et al.
patent: 5138904 (1992-08-01), Lande
Brochure entitled "Rational De-Icing, The Intelligent Solution".
A brochure entitled "Horizon 2000 Aircraft Deicing System" (undated).
A five page information letter entitled "FMW International, Inc. Horizon 2000 System" (undated).
Grant Andris P.
Rowe Ian H.
Bidwell Anne E.
Huppert Michael S.
Spar Aerospace Limited
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