| 基于串并联结构的弹药装填机器人设计 |
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| 引用本文： | 徐达,王中盛,刘广洋,张迎. 基于串并联结构的弹药装填机器人设计[J]. 装甲兵工程学院学报, 2008, 22(5) |
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| 作者姓名： | 徐达 王中盛 刘广洋 张迎 |
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| 作者单位： | 1. 装甲兵工程学院,兵器工程系,北京,100072
2. 71146部队,潍坊,261000 |
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| 摘 要： | 以人体手臂结构为参考,根据装甲车辆火炮自动装填需求和车内结构特点,设计了7自由度冗余弹药装填机器人,给出了设计指导思想,重点研究了肩、肘、腕关节处的机构选型以及相关参数的确定,给出了手爪推弹器方案,建立了虚拟样机,并进行了运动学仿真。该串并联结构的弹药装填机器人结构紧凑、负载能力高、运动特性好,能够实现装甲车辆火炮弹药自动装填,对于我军未来装甲车辆弹药装填机器人研制具有较大参考价值。
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| 关 键 词： | 机器人 弹药装填 串并联结构 7自由度 并联球关节 |
Design of an Ammunition Auto-loading Robot Based on Serial-Parallel Connection Structure |
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| XU Da,WANG Zhong-sheng,LIU Guang-yang,ZHANG Ying. Design of an Ammunition Auto-loading Robot Based on Serial-Parallel Connection Structure[J]. Journal of Armored Force Engineering Institute, 2008, 22(5) |
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| Authors: | XU Da WANG Zhong-sheng LIU Guang-yang ZHANG Ying |
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| Affiliation: | 1(1.Department of Arms Engineering; Academy of Armored Force Engineering; Beijing 100072; China; 2.Troop No.71146 of PLA; Weifang 261000; China); |
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| Abstract: | This paper refers to the structure of human′s arm,characteristics in the armored vehicles and need of ammunition auto-loading,gives a design thought of ammunition auto-loading robot,makes efforts to research the organizations of shoulder,elbow and wrist of the robot,computes the parameters,puts a project of the end carrier of ammunition auto-loading and then builds 3D virtual prototype model to make kinematics simulation.This ammunition auto-loading robot based on serial-parallel structure possesses lots of... |
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| Keywords: | robot ammunition auto-loading serial-parallel connection structure 7-DOF parallel-spherical joint |
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