弹药装填机器人作业平台仿真系统设计与实现

针对弹药装填机器人作业过程复杂的问题，基于作业任务实用性和可操作性的要求，设计了一种作业平台仿真系统。在深入分析弹药装填机器人作业任务和工作过程的基础上，构建了总体设计方案，研究了仿真系统的稳定性技术，进行了运动控制、数据采集以及传感器精度等硬件部分设计和模块化技术的软件设计，建立了弹药装填机器人仿真系统。仿真结果表明：该设计能够实现对弹药装填机器人的控制和实时作业。

Design and Implement of Simulation System for Ammunition Loading Robot Work Platforms

Based on the requirements of practicality and operability of the work task, a kind of work plat- form simulation system is designed aimed at complex problems of work process of ammunition loading ro- bot. On the basis of analysis of ammunition loading robot＇ s work task and work process, the system over- all design plan is built up, the stability technology is studied, hardwares of motion control, data acquisi- tion and sensor accuracy and software of modular technology are designed, the simulation system of am- munition loading robot is constructed. The simulation results show that the design can achieve the control and real-time operation of ammunition loading robot.