Study And Design On Manipulator Of Shooting Range Dud Processing System

The disposal of a dud in the shooting range is always a difficult problem, and it is never well solved till now. Many people have been studying this equipment in our country or overseas. But they can't be put into effect correctly because of their high expensive or not suiting for the environment of shooting range. At present, there are two problems in the dud disposal: one is probing and searching the dud, another is eliminating it. This thesis puts forward a system that is used to dispose of the dud, in which a man's work is replaced by the manipulator. This system can be used to search and dispose of the dud automatically, so the casualties can be decreased, furthermore, the efficiency is increased largely. It has two important functions, search and disposal. In search process, it not only has no blind areas but also reach enough speed. In disposal process, it exploits satchel charges to detonate the dud, and it has enough accuracy that is equal or close to the manual work.The transmission illustrated in this thesis consists of a manipulator with three parts of adjustable arm of six degrees of freedom and is installed on a vehicle whose power can be used to control this system. The arm can reach 10 meters, so the worker's safe can be ensured. This system can work under bad environment such as prairie and hilly country. The opposite open manipulator can be controlled by a set of transducers and corresponding controllable system in order to assure enough pinched accuracy and discharged accuracy.However, the system is still under development owing to the restriction of time and experiment conditions, and it is waiting for deep experiments and studies.