Study On The Ammunition Handling Process Reappearance Technology Of The Riot Automatic Mechanism

The ammunition handling process of riot bombs in transmitter automata mainly refers to a series of processes of pulling simulated bombs out of the ammunition handling box,plucking it to the position of pressing bombs,and finally takeing off the chain of pressing bombs.The attitude of riot bombs in the ammunition handling process greatly affects the attitude out of the chamber of riot bombs in practice,it is of great significance to judge the angle of attack of riot bombs when they are launched.To take test and analysis for the dynamic performance of one type of 64 mm riot bomb transmitter automata which has been designed,proposing reliable suggestions for the optimization of the automata.(1)This paper uses and designs a six degrees of freedom inertial unit attitude measurement test system,testing the attitude parameters of simulated bombs in the process of simulating the ammunition handling process of the transmitter,which including the rotational angular velocity measured by the gyroscope and the linear acceleration measured by the accelerometer.(2)Comparing several the most widely used resolving algorithms in attitude resolving,finally,the quaternion resolving algorithms is chosen,which is supplemented by the fourth order runge-kutta algorithm,to solve the attitude and displacement information of simulated bombs in the process of simulating the ammunition handling process of the transmitter.Analyzing the process of pulling bombs and taking off the chain of pressing bombs,to determine whether the simulated automata works reliably in the process of motion.Analysis of the results from the resolving,the motion trajectory of the simulated bombs meets the design requirements,which shows that the simulated automata runs reliably.(3)Another research content of this paper is to use virtual reality technology to carry out a simulation to the ammunition handling process of riot bombs.After introducing the technology,principle and application scope of the virtual reality VR,and the virtual reality technology is used to simplify the simulated bomb motion environment and establish the environment model,and input the actual measured data into the established environment model which has been built,to carry out 3D simulation of simulated bomb motion attitude,reproducing the motion process of simulated bombs.Through the simulation,the motion process of the simulated bomb in the automata can be observed in a more specific image way,reproducing to obtain the attitude and trajectory of the ammunition handling process of the simulated bombs in simulated automata.