Reliability Analysis Of Key Mechanisms Of A Filling Robot

The loading manipulator is one of the key components of a large-caliber artillery automatic loading system. Automatic loading system is generated to improve the Survivability of artillery in the complex battlefield environment of future, which improves rate of fire and artillery power using the technology of automata and modular charge, also brings corresponding reliability problems. Based on the project of the "twelve five-year", the research is developed and aims at the problem of key mechanism reliability of the loading manipulator using the theory of mechaniom reliability, kinematics, multibody system dynamics, kinematic pair wear, truncated distribution, artificial neural network, optimization design, which provides the theoretical basis and reference for engineering practice. This article main research content is as follows:(1)The integrally structure, its operating principle and the random factors which affect its reliability of the loading manipulator are analyzed. Manipulator kinematics equation and motion precision reliability functions are built. Based on assumptions of random factors obeying truncated normal distribution, reliability calculation formula which considers component parameters randomness is deduced, also the movement precision reliability which considers input motion randomness is calculated by the method of numerical simulation.(2)The reliability allocation model based on cost minimization is built to solve the problem of movement precision reliability allocation. Numerical example shows that the optimized allocation results not only meet the requirements of reliability index but also reduce the manufacture cost in a large scale.(3)Based on multi-body system dynamics software platform, dynamic simulation model of manipulator is built. Then rigid-flexible coupling dynamics model is built via replacing the rotary rack body with its flexible parts for the purpose of researching the rotary rack body stiffness and strength.(4)Based on the multidisciplinary integrated optimization platform, the distribution characteristics of the translation driving force of translation mechanism under the influence of random factors are discussed, operating reliability of hold the bomb mechanism is analyzed as spring stiffness degrades, the uses of artificial neural network in reliability analysis are explored.(5)Based on the Archard wear equation, the wear calculation model of planar motion pair is built. The wear of slewing mechanism gear pair and hold bomb cam deputy are researched, also the hold bomb mechanism reliability variation with wear cycle is obtained.