基于虚拟样机的弹药装填机械臂动力学分析与仿真  

Dynamics Analysis and Simulation of Ammunition Loading Robotic Arm Based on Virtual Prototype

作　　者：罗建华[1] 徐达[1] 

机构地区：[1]装甲兵工程学院兵器工程系,北京100072

出　　处：《装甲兵工程学院学报》2015年第3期71-74,共4页Journal of Academy of Armored Force Engineering

摘　　要：在新型弹药装填机械臂虚拟样机的基础上,对弹药装填机械臂静力学进行了详细求解,得到其数学解析式;采用拉格朗日能量平衡法构建了弹药装填机械臂系统动力学模型,在ADAMS环境下对其进行了动力学仿真分析,得到了弹药装填机械臂关节的角度、力及力矩参数特性曲线,为弹药装填机械臂实时控制奠定了基础,同时也为其机构设计优化提供了依据。The statics of ammunition loading robotic arm is solved in detail on the basis of the virtual pro-totype of new ammunition loading robotic arm,and the mathematical expression is got.The dynamic mod-el of ammunition loading robotic arm is built by using the Lagrange energy balance method,and the dy-namic simulation analysis is realized based on ADAMS.The curve charts of the joint’s angle,force and torque are got,which lays the foundation for real-time control of ammunition loading robotic arm,and al-so provides the basis for structure design optimization.

关 键 词：弹药装填机械臂 动力学分析 虚拟样机 

分 类 号：TJ810.37[兵器科学与技术—武器系统与运用工程] TP391.9[自动化与计算机技术—计算机应用技术]