论文部分内容阅读
在新型弹药装填机械臂虚拟样机的基础上,对弹药装填机械臂静力学进行了详细求解,得到其数学解析式;采用拉格朗日能量平衡法构建了弹药装填机械臂系统动力学模型,在ADAMS环境下对其进行了动力学仿真分析,得到了弹药装填机械臂关节的角度、力及力矩参数特性曲线,为弹药装填机械臂实时控制奠定了基础,同时也为其机构设计优化提供了依据。
On the basis of the new type of ammunition loading robot virtual prototyping, the statics of the ammunition loading robot are solved in detail, and the mathematical formulas are obtained. The dynamic model of ammunition loading robot system is constructed by Lagrange energy balance method. ADAMS environment dynamics simulation analysis, get the angle, force and moment parameters characteristic curve of the armor loading arm joints, which lays the foundation for the real-time control of the ammunition loading arm, and also provides a basis for the design optimization of the mechanism .