Structural Design And Analysis Of An Automatic Loading Manipulator

Auto-Loading manipulator is one of the key techniques of artillery’s fully automatic feeding system.The rationality and accuracy of the design of the manipulator has large influence to the firing rate of the artillery,the allowable loading angular range, and the accuracy to select the projectile types, automation, reliability index etc.This paper use function principle design, dynamics optimal design and finite element method to design the auto-loading manipulator of a large caliber artillery, and established the kinematics model and dynamic model of the manipulator, finish the simulation analysis by use of computer analysis software. The problems occurred in the physical prototype experiment were studied and analyzed, and the design scheme was improved to avoid such problem happened again.the main works are:1. design of the auto-loading manipulator:according to the index requirement of the artillery’s fully automatic feeding system, the mechanical structure indexes of the manipulator were determined to match with the other parts of the system.The driving scheme and transmission scheme were determined.Then the 3-d model of the manipulator was established by UG2. Kinematics Analysis and Simulation of the Auto-Loading Manipulator:The kinematics model of the manipulator was established with the Denavit Hartenberg model,the positive kinematics equation was solved.The trajectory planning of the manipulator was simulated by use of Robotics Toolbox in MATLAB software,which showed the motion and trace of each joint clearly.3. Dynamic analysis and simulation of the auto-loading manipulator.:afer describing the theory of dynamic modeling and analysis,the dynamic model of the autp-loading manipulator was established by use of the lagrangian method and kane method.Then the virtual prototype model was established in RecurDyn to simulate and analyze the force and torque in each joint when the manipulator was grabing projectiles,which provide the basis for the design of control system and the choice of the motors.4. The analysis and improvement to the physical prototype:The physical prototype was processed out.During the engineering test,he component which combined the link and electromagnet was fractured,the plate to lift the projectile was deformed.Afer the computer software simulation and theories analysis,the causes of these problems were figured out,and the design scheme was improved.