Foundation Vibration Single Degree Of Freedom Robotic Arm Design Studies

The large caliber artillery with ammunition automatic loading system is an inevitable requirement. Taking the ammunition transfer arm in ammunition automatic loading system of the large caliber as the research background, this paper studies an electro-mechanical system which contains an arm with single degree of freedom to build the theoretical foundation for the ammunition transfer arm in moving large caliber artillery.Design the electro-mechanical system which contains the arm with single degree of freedom, the driving motor, the incremental encoder, the motor controller and the gearboxes, build both the 3D model and the physical model. The co-simulation for the electro-mechanical using ADAMS and MATLAB is performed in both the static situation and the situation which considers the random foundation vibration. The result shows that the dynamics of the arm was affected strongly by the nonlinear force due to the random foundation vibration.Considering the random foundation vibration, the dynamic formula of the arm with single degree of freedom is established and is shaped in the frequency domain using the mixed sensitivity theory. The H∞control block for the system with parametric uncertainty is constructed using the H∞theory and the structural singular valueμtheory. Design the H∞controller using the D-K iteration toolbox in MATLAB. The structural singular valueμanalysis shows that the designed controller can desirably satisfy both the robust stability and the robust performance requirement.