仿人智能移动靶四连杆倒伏机构优化设计  

Optimization Design of an Auto Reset Four-bar Mechanism for Humanoid Intelligent Mobile Targets

作　　者：曹俊宏 罗自荣 蒋涛 尚建忠[1] 徐毓泽 CAO Junhong;LUO Zirong;JIANG Tao;SHANG Jianzhong;XU Yuze(School of Intelligent Science,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学智能科学学院,长沙410073

出　　处：《机械设计与研究》2022年第2期66-70,74,共6页Machine Design And Research

摘　　要：仿人智能移动靶标是一种新型的轻武器训练机器人,用于提高作战人员射击精度、优化受训者射击状态。针对轻武器训练装备智能化无人化的发展趋势,提出了一种仿人智能移动靶标的概念设计方案,设计出一种基于四杆机构的倒伏结构,用于模拟人体中弹的真实运动响应和风险规避姿态。以驱动电机最小驱动转矩为优化目标,基于机构运动学与动力学特性分析建立倒伏机构优化模型,通过数值计算优化倒伏机构结构参数,虚拟样机仿真结果表明,优化后的四连杆机构摆动所需驱动力矩幅值减小40%以上,并控制在50 N·m左右,对仿人智能移动靶标这一新型军事训练机器人的研制提供理论支撑。Humanoid intelligent mobile target is a new type of robotic system used for small arms training,which is used for improving the shooting accuracy and stability of combat trainees.Due to the development trend of intelligent and unmanned training equipment,this paper proposes a conceptual design of a human-like intelligent mobile target.A target auto reset mechanism based on four-bar mechanism is designed,which can simulate the physiological reaction of being shot and mimic the body posture when taking risk aversion actions.In order to achieve the goal of providing the minimum driving torque to the drive motor,the optimization model of the lodging mechanism is established by using the method of kinematics and dynamics analysis of the mechanism,and the structural parameters of the lodging mechanism are optimized by numerical calculation.The simulation results of the virtual prototype show that the driving torque amplitude required for the swing of the optimized four-bar linkage is reduced by more than 40%,and is controlled at about 50 N·m,which provides theoretical support for the realization of the experimental prototype.

关 键 词：仿人智能移动靶标 四连杆机构 倒伏机构 驱动力矩 

分 类 号：TH6[机械工程—机械制造及自动化] TJ9[兵器科学与技术—武器系统与运用工程]