| 摘要 |
PROBLEM TO BE SOLVED: To provide a new robot tug to allow an airplane to run on the ground.SOLUTION: A towbarless airplane tug 100 includes: a chassis 102; a base assembly 126; an airplane front wheel support turret assembly 125; at least one force sensor; at least one tug wheel driver unit operative to allow a driver to drive the rotation a plurality of tug wheels to provide the movement of the chassis; at least one tug wheel steering mechanism 120 operative to steer the steerable tug wheels during taxing of the airplane; and at least one tug controller 119 operative to control operation of at least the tug wheel drive unit in at least partial response to the output of at least one of the force sensors indicative of brake of airplane pilot control so as to reduce a force added on the front wheel of the airplane as a result of the brake of the airplane pilot control of the airplane. |
