悬吊式机器人消防炮力学建模与稳定性分析  

Mechanics Modeling and Stability Analysis for Fire Monitor of Suspended Robot

作　　者：周琼[1] 唐火红[1] 骆敏舟[2] 冯宝林[2] 

机构地区：[1]合肥工业大学,安徽合肥230009 [2]中国科学院合肥物质科学研究院先进制造技术研究所,江苏常州213164

出　　处：《机械研究与应用》2015年第2期54-56,62,共4页Mechanical Research & Application

基　　金：常州市国际科技合作计划项目(编号:CZ20110006)

摘　　要：高层建筑消防难题日渐凸显,悬吊于直升机上的高空消防机器人运行稳定性对气动消防炮的发射精度影响至关重要;针对悬吊式消防机器人的灭火炮发射精准度问题,研究了灭火弹在诸阻力及系统初始扰动作用下的力学机理,通过对炮管发射角度的调节,解决了灭火弹发射系统射击精度不高的问题。建立了灭火弹运行弹道及后效期内系统稳定性模型,算例的分析结果验证了系统方案的可行性,为机器人位姿调整系统参数的设定提供了理论依据。The fire protection problems of high-rise building become increasingly highlighted.The operating stability of the fire-fighting robots which were suspended to the helicopter is essential for the shooting accuracy of the pneumatic fire monitor. In this paper, the mechanical mechanism of the fire-extinguisher cannon in conditions of different forces and initial disturb-ance of the system is analyzed to the question of shooting accuracy.The mechanism model of ballistic trajectory of the fire-ex-tinguisher cannon and the system stability during the aftereffect period is established.The results verify the feasibility of system solutions, and it provides a theoretical basis for the parameters setting of the robot posture adjustment system.

关 键 词：悬吊式 消防炮 射击精度 稳定性 

分 类 号：TH113.1[机械工程—机械设计及理论] TJ012[兵器科学与技术—兵器发射理论与技术]