The Interface Technology Of Automatic Magazine And Collision Dynamic Study

The modernization of naval operations requires naval guns to be capability of long-range, high rate of fire, the identification and agile alterability of multi-shell species and rapid response to the continuing strike. As an important component of naval guns, the technology of automatic magazine determines the performance and power of guns directly. In this paper, as one of the key technologies in the automatic magazine, interface technology has been studied from theoreticl configuration design and theory analysis and simulation study, which is significance to enhance the technology of automatic magazine of naval guns for our country.Based on robotics, an Under-actuated Manipulator Interface mechanism which achieves the shells transfer between blocks, and resolve the compatibility problem of shells alteration using the characteristics of multi-degree of freedom has been designed with the mechanical design principles and methods for the automatic magazine. Statics and kinematics analysis have been done to acquire the relationship of alterable multi-parameters such as the relationship between the gripper joint clamping force and the length and angle of joints, and the basic law of motion during the process that manipulator grasp shells.By modeling and simulating in the ADAMS dynamic simulation software, the feasibility of the design has been verified, kinematics and dynamics simulation results have been obtained under the conditions of the initial design of the manipulator. Through analyzing results, the maximum impact force (between mechanical arm and shells) and the imbalance of gripper joint clamping force have been found and need to resolve. With finite element method and LS-DYNA software, the modeling and simulation of mechanical arms with greatest force on collision and shells have been done, different speeds response curves under collision have been obtained, the basic laws during the collision process has been summarized. The destruction on shells that engendered by the maximum impact force has been avoid by settling interior buffer device in hydraulic cylinder driven mechanical arm. The mechanical gripper configurations have been optimized and the imbalance problem of gripping forces has been solved with parameter optimization design method in ADAMS software, a compatible interface mechanism utilizing under-actuated robot-type mechanical manipulator for automatic magazine has been complete. The research not only solved a key technology of automatic magazine, but also has a certain reference value of the study of collision dynamics and the imbalance problem of multi-joint Manipulator clamping force.