Self-mortar Automatically For Ramming Robot Design And Dynamic Simulation Analysis

In this paper, an automatic transfer and loader mechanism梐 planar-moving robotic manipulator was designed to fit for some 120mm self-propelled mortar system.Firstly, a 3-D model of robotic manipulator was built according to the structure and size of the mortar turret. Then we built the kinematics equation of the robotic manipulator and solved the inverse equation with a geometry approach.Considering of the elastic deformation of the manipulator, using elastodynamic analysis method to separate the manipulator into three parts: elastic part, rigid part and drive part. And based on the FEA model and the Flexible model of ADAMS, a flexible dynamic model was built in ADAMS to do some analysis to see the dynamic response of arm. A dynamic simulation was run and we get the inverse solution of themanipulator-the torches applied to the rotating joints and forcesapplied to the translating joint of the manipulator. Through the comparative of the different dynamic response of multi-rigid manipulator and multi-flexible manipulator, we provide the accuracy and necessity of considering of the elastic deformation' s influence to the mechanism.Finally, s-ome control methods to the robotic manipulator was suggested here.