基于关节受力特性分析的臂式发射机构射击姿态优化研究  

Research on the Optimization of Shooting Attitude of Arm-type Launching Mechanism Based on the Analysis of Joint Force Characteristics

作　　者：李玉琳 金景峰 尹旭 接铭举 袁磊晶 LI Yu-Lin;JIN Jing-Feng;YIN Xu;JIE Ming-Ju;YUAN Lei-Jing(Southwest lnstitute of Technology and Engineering,Chongqing 400050,China;Chinese People’Liberation Army,32381 Unit 100072,China)

机构地区：[1]西南技术工程研究所,重庆400050 [2]中国人民解放军,32381部队,100072

出　　处：《机电产品开发与创新》2023年第3期51-54,共4页Development & Innovation of Machinery & Electrical Products

摘　　要：为了提高武器站射界及机动性,改变传统武器站结构形式,将机械臂作为武器搭载平台,采用运动学及动力学仿真分析得出机械臂运动质心运动规律及关节扭矩变化规律,计算关节驱动装置相关参数,进一步得出以机械臂为搭载平台的武器站最佳射击姿态。首先通过Adams动力学仿真得到恒定后坐力峰值为121.25 N;其次通过运动学仿真及数据处理,得出各个关节负载质心分布区域,从而求解出各个关节负载转动惯量的分布区间,计算得出J3、J2分别为+70°、-60°时,J1负载转动惯量最大,为0.821 kgm2;当J3、J2分别为+70°、+15°时,J2负载转动惯量最大,为1.7196 kgm2;对不同射击姿态下的机械臂保持力矩进行仿真分析,J3、J2分别为+60°、+70°,J2扭矩最大,为72.98 Nm;J3为-15°时,J3扭矩最大,为12.64 Nm;然后对运动及发射状态下关节驱动装置参数进行计算;最后分析在满足全方位射击的前提下,关节驱动装置保持力矩最小最佳的射击姿态。In order to improve the firing range and mobility of the weapon station and change the structure of the traditional weapon station,the mechanical arm is used as the weapon carrying platform.The kinematics and dynamics simulation analysis is used to obtain the motion law of the center of mass of the moving parts of the mechanical arm and the change law of the joint torque,and the relevant parameters of the joint driving device are calculated,Furthermore,the best shooting attitude of the weapon station with the manipulator as the platform is obtained.Firstly,the peak value of constant recoil force is 121.25 N by Adams dynamic simulation;Secondly,through kinematics simulation and data processing,the distribution area of load centroid of each joint is obtained,and the distribution interval of load moment of inertia of each joint is solved.J3 and J2 are calculated to be+70°、-60°.The maximum moment of inertia of the load is 0.821kgm2;When J3 and J2 are+70°、-15°.The maximum moment of inertia of J2 load is 1.7196kgm2;The holding torque of the manipulator in different shooting attitude is simulated and analyzed,J3 and J2 are+60°、+70°,The maximum torque of J2 is 72.98Nm;when J3 is-15°,the maximum torque of J3 is 12.64Nm;Then,the parameters of joint driving device in motion and launch state are calculated;Finally,the optimal shooting posture of the joint driving device with minimum torque is analyzed on the premise of meeting the requirements of omni-directional shooting.

关 键 词：武器站 机械臂 负载扭矩 关节驱动 

分 类 号：TJ22[兵器科学与技术—武器系统与运用工程]