Design and Simulation of an Automatic Loading Manipulator
Aiming at the development of intelligent and unmanned ammunition automatic loading sys-tem,based on the research on the loading system of a large caliber gun,a new type of automatic loa-ding manipulator composed of a mechanical arm and a two-finger grasping claw is designed,which can realize the operation in three-dimensional space,so as to grasp the projectile and change the position of the projectile.The two-finger grasping claw is designed according to the shape and size of the projec-tile,which can grasp the projectile securely.After grasping the projectile,locking of the two-finger grasping claw can be realized,while unlocking of the two-finger grasping claw can be rea-lized by energizing an electromagnet.After unlocking,the projectile can be separated smoothly from the two-finger grasping claw.Based on the change of the position of the projectile and the specific action of loading,the robotic arm is designed to ensure the reliable connection between the arm and the two-fin-ger grasping claw.The kinematics model of the robotic arm is established by using the D-H parameter method,and the kinematics equation of the robotic arm is obtained.The loading action can be comple-ted by controlling the movement of the manipulator.3D modeling software is used to establish the loa-ding manipulator model.After the model is established,the dynamics simulation software RecurDyn is used to simulate the kinematics of the loading manipulator, thus verifying the rationality of the design of the loading manipulator. The research provides an important reference for the processing and deve-lopment of automatic loading manipulators.
万方数据
维普
