【作者】 杨杰；

【导师】 葛杨；

【作者基本信息】 哈尔滨工程大学 ， 机械设计及理论， 2008， 硕士

【摘要】 供弹系统作为舰炮重要的组成部分之一,起着快速、准确、可靠地将弹药输送到发射系统的关键作用,其性能的好坏直接影响和决定着舰载武器系统的性能。目前国内在这方面的技术与国外相比差距较大,因此研究新型供弹系统有着重要的意义。本论文在充分分析和综合各国海军现役大中口径舰炮供弹系统机构性能的基础上,提出以供弹机器人柔性供弹的方式取代舰炮系统常规机构的供弹方式,以适应大中口径舰炮兼容发射,提高供弹系统供弹率的要求。本文对供弹机器人进行了总体布局和本体机构的设计。采用D-H法对该五自由度供弹机器人建立了运动学模型,并进行了正、逆运动学分析。依据机械设计中并行设计理论、系统机构设计要求和系统工作步的工作原理对工作步机构运行时间预先设定,进行了供弹机器人供弹时序的设计。应用时序分析结果,提出了供弹机器人平面作业轨迹规划的方法。基于有限元理论,利用Pro/E和ANSYS仿真软件,对供弹机器人在取弹和向身管接弹器送弹的两种特殊工况下进行了静力特性、接触特性、结构模态和瞬态特性的数值仿真分析,得到了供弹机器人的各阶固有频率和相应的振型,得出了供弹机器人的振动特性,据此提出了改善供弹机器人振动特性和避免系统发生共振的措施。更多还原

【Abstract】 As a very important part of gun, the naval gun feeding system plays very important role in transporting the shells accurately and efficiently to the launched position, and so its performance has a direct impact on the potency of the launch system. At present, the domestic technology has large gap compared with foreign, so it is very important to study on a new Naval areillery shells supply. In this paper, by analysising the merits and shortcomings of navy’s active-duty large and medium-caliber guns shells supply system from many countries; an flexible transfer manipulator system is put faward to replace conventional bomb transfer system, and to meet large and medium-caliber guns compatible requirements and large scale bomb supply needs.In this paper, the overall shell transfer manipulator solution and the mechanical structure of the manipulator are designed; D-H method is used to analysis the kinematics performance of the manipulator and establish the kinematics model. According to concurrent mechanical design theory , the system structure requirements and step-working principle, the running time of the step is set in advance., and the succession of the system is designed. According to results from the succession analysis, a robot plane operations trajectory planning method is proposed.Based on the finite element theory, Pro/E and ANSYS simulation software are used to analysis the static characteristic and mode state of the manipulator, and the natural vibrating frequencies and the corresponding modes in the getting bombs process and transferring bomb to bomb-holding part of the gun body process are gained. Based on the vibrating character of the manipulator, measurements are proposed to avoid system resonance更多还原