某自动装填机械手设计与仿真研究  

Design and Simulation of an Automatic Loading Manipulator

作　　者：王伟伟 王屹华[1] 赵涛[1] 江腾耀 邱照原 杨蕴萌 WANG Weiwei;WANG Yihua;ZHAO Tao;JIANG Tengyao;QIU Zhaoyuan;YANG Yunmeng(Northwest Institute of Mechanical&Electrical Engineering,Xianyang 712099,Shaanxi,China)

机构地区：[1]西北机电工程研究所,陕西咸阳712099

出　　处：《火炮发射与控制学报》2024年第1期36-43,共8页Journal of Gun Launch & Control

摘　　要：针对弹药自动装填系统智能化、无人化的发展趋势,以某大口径火炮装填系统研究为背景,设计出一种由机械臂与二指抱爪构成的新型自动装填机械手,可实现在三维空间中进行作业,以此实现对弹丸的抓取以及弹丸位置的改变。根据弹丸的形状尺寸设计二指抱爪,所设计的二指抱爪可稳定地抓取弹丸,在抓取弹丸之后可实现二指抱爪的锁定,对电磁铁上电可实现二指抱爪的解锁,解锁之后可保证二指抱爪与弹丸顺利脱离;由弹丸位置的改变及装填的具体动作设计机械臂,保证所设计的机械臂与二指抱爪连接可靠,利用D-H参数法建立了机械臂运动学模型,并求得机械臂的运动学方程,通过控制机械臂的运动可实现装填动作的完成。利用三维建模软件建立装填机械手模型,且在模型建立后,利用动力学仿真软件RecurDyn对装填机械手进行运动学仿真,由此验证装填机械手设计的合理性,为加工与研制该自动装填机械手提供重要依据。Aiming at the development of intelligent and unmanned ammunition automatic loading system,based on the research on the loading system of a large caliber gun,a new type of automatic loa-ding manipulator composed of a mechanical arm and a two-finger grasping claw is designed,which can realize the operation in three-dimensional space,so as to grasp the projectile and change the position of the projectile.The two-finger grasping claw is designed according to the shape and size of the projectile,which can grasp the projectile securely.After grasping the projectile,locking of the two-finger grasping claw can be realized,while unlocking of the two-finger grasping claw can be rea-lized by energizing an electromagnet.After unlocking,the projectile can be separated smoothly from the two-finger grasping claw.Based on the change of the position of the projectile and the specific action of loading,the robotic arm is designed to ensure the reliable connection between the arm and the two-finger grasping claw.The kinematics model of the robotic arm is established by using the D-H parameter method,and the kinematics equation of the robotic arm is obtained.The loading action can be completed by controlling the movement of the manipulator.3D modeling software is used to establish the loa-ding manipulator model.After the model is established,the dynamics simulation software RecurDyn is used to simulate the kinematics of the loading manipulator,thus verifying the rationality of the design of the loading manipulator.The research provides an important reference for the processing and deve-lopment of automatic loading manipulators.

关 键 词：弹丸 机械臂 二指抱爪 运动学 

分 类 号：TJ303.3[兵器科学与技术—火炮、自动武器与弹药工程] TP242[自动化与计算机技术—检测技术与自动化装置]