装填机械臂动力学仿真及有限元分析

基于某型自行火炮药筒仍为人工装填,极大的限制了火炮的发射效率,本文提出采用机械臂代替人工装填药筒,完成该型火炮弹药装填的全自动化。通过建立装填机械臂三维实体模型,导入在ADAMS并构建虚拟样机进行动力学仿真,求得机械臂各关节力矩,对杆件进行有限元分析,校核杆件强度及变形。动力学及有限元分析结果为装填机械臂控制系统设计奠定了基础,同时为关节电机选型提供了依据,对运动学和静力学分析所得的关节参数进行修正,形成交互式设计模式不断优化机械臂本体结构。

Dynamic and Finite-element Analysis of Loading Arm

As the cartridge of self-propelled gun is still loaded by human force,the speed and efficiency of gun's sending are extremely limited,the passage advance to use robotic arm instead of human to load cartridge,in order to finish the full-automatic of cartridge loading.Through the foundation of robotic arm's physical model,import the model to ADAMS and build virtual model and to do dynamic analysis,to solve the torque of each joint,to do finite-element analysis for parts,to check the allowable strength and def...