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以人体手臂结构为参考,根据装甲车辆火炮自动装填需求和车内结构特点,设计了7自由度冗余弹药装填机器人,给出了设计指导思想,重点研究了肩、肘、腕关节处的机构选型以及相关参数的确定,给出了手爪推弹器方案,建立了虚拟样机,并进行了运动学仿真。该串并联结构的弹药装填机器人结构紧凑、负载能力高、运动特性好,能够实现装甲车辆火炮弹药自动装填,对于我军未来装甲车辆弹药装填机器人研制具有较大参考价值。
According to the arm structure of armor, according to the requirements of auto-filling of armored vehicles and the structural features of vehicle interior, a 7-DOF redundant ammunition charging robot is designed. The guiding principle of design is given, focusing on the mechanism of shoulder, elbow and wrist joints The type selection and the determination of related parameters, the program of claw projectile is given, the virtual prototype is established, and the kinematics simulation is carried out. The ammunition loading robot with the series-parallel structure has the advantages of compact structure, high load capacity and good movement characteristics, and can realize the automatic loading of artillery ammunition for armored vehicles, which is of great reference value for the development of armored vehicles ammunition charging robots in the future.