穿戴武器臂的人枪耦合系统发射响应研究  

Shooting Response of Human-Gun System with Wearable Weapon Arm

作　　者：何龙[1] 姜荃 李鹏杰 徐诚[1] HE Long;JIANG Quan;LI Pengjie;XU Cheng(Automatic Weapons Department,Mechanical Engineering College,Nanjing University of Science and Technology,Nanjing,Jiangsu 210094,China;The 705 Research Institute Kunming Branch,China State Shipbuilding Corporation,Kunming,Yunnan 650032,China;No.208 Institute,China Ordnance Industry,Beijing 102202,China)

机构地区：[1]南京理工大学机械工程学院自动武器系,江苏南京210094 [2]中国船舶集团有限公司第705研究所昆明分部,云南昆明650032 [3]中国兵器工业第208研究所,北京102202

出　　处：《北京理工大学学报》2024年第4期386-394,共9页Transactions of Beijing Institute of Technology

基　　金：国家自然科学基金资助项目(52275256)。

摘　　要：穿戴式武器臂是一种新型单兵上肢外骨骼,对提高单兵火力打击效能具有重要作用,含武器臂的人枪耦合系统是一种复杂人机系统,其作用机制和动力学响应特性尚需进一步研究.提出了一种穿戴武器臂的总体方案,研制了穿戴式武器臂原理样机,采用16通道Delsys表面肌电测试系统采集射手立姿据枪瞄准时左右臂和躯干肌肉的表面肌电信号,对典型射手在有/无穿戴武器臂状态下,双手握持枪械时的肌肉疲劳状况进行对比评估;采用Codamotion三维运动捕捉系统采集立姿无依托点射和单发射击过程中枪口响应数据,建立有/无穿戴武器臂状态立姿无依托人枪相互作用动力学仿真模型,通过试验和仿真分析穿戴武器臂状态人枪系统发射动态响应特性.研究结果表明穿戴武器臂立姿据枪瞄准时射手左手肌肉的积分肌电值除三角肌外均有明显的下降,肱二头肌的下降尤为显著;穿戴武器臂立姿无依托点射时枪口后坐和竖直方向的位移量相比“无武器臂持枪射击状态”大幅下降,抵肩力也大幅下降,穿戴式武器臂减轻了穿戴者的双手肌肉疲劳,提高了枪械的射击动态稳定性.The wearable weapon arm is a new kind of exoskeleton of the upper limb of individual soldier,playing an important role in improving the firepower attack efficiency of individual soldier.The man-gun coupling system with weapon arm is a complex man-machine system,and its action mechanism and dynamic response characteristics need further study.In this paper,a general scheme of wearable weapon arm was proposed.Firstly,a prototype of the wearable weapon arm was developed.A 16-channel Delsys surface electromyography test system was used to collect the SEMG signals of the muscles of the left and right arms and trunk of human when the rifle was aimed in the standing position of the shooter,and the muscle fatigue of the shooter with or without the weapon arm was compared and evaluated.A Codamotion three-dimensional motion capture system was used to collect the muzzle response data of the human-gun system under 3 successive firing and single firing condition.Several interaction dynamics simulation models of the human-gun with or without wearing weapon arm were established,evaluating the dynamic stability of the shooter with or without wearing weapon arm.The study results show that the integral EMG value of the shooter's left hand muscles,except for the deltoid muscle,can decrease significantly when standing and aiming with the gun by the weapon arm,especially the bicipital muscle EMG.The displacement of the recoil and vertical direction of the muzzle during firing at standing position with weapon arm can significantly be reduced compared to the shooting state without weapon arm,and the shoulder force can also be significantly reduced,significantly reducing the fatigue of the wearers'hands muscle and improving shooting stability.

关 键 词：上肢外骨骼 穿戴式武器臂 人枪系统 发射动力学 枪口响应 

分 类 号：TJ201[兵器科学与技术—武器系统与运用工程]