Research On Kinematics And Control Technology Of Arm Launching Mechanism

The development of modern remote control weapon war tends to be light and intelligent gradually,and the requirement of flexibility and lethality is higher and higher,and the target pointing accuracy is also higher.Based on this trend and demand,the pointing accuracy of the unmanned remote control weapon platform and gun tower has become a research hotspot all over the world.At present,the research on pointing accuracy of the remote control weapon has developed rapidly.However,the space flexibility of the launching mechanism,the miniaturization of the volume and the reliability of the executive mechanism are the focus of the current remote control weapon war researchTaking the unmanned platform based on ARM launching mechanism as the object and the low altitude combat units of the ground and the enemy as the operational targets,this paper focuses on solving the problems of flexibility,lightness and fire direction of launching mechanism.Firstly,the arm type launching mechanism and the whole unmanned combat platform are designed.The three degree of freedom mechanical arm with joint velocity of1200/5?800/s?800/s,and are selected as the launching mechanism of the platform to achieve the function of Gyration-Pitch-Pitch.The D-H coordinate of the launching arm is established,the forward and inverse kinematics are analyzed,and the preliminary modeling is completed in MATLAB.The coordinate transformation among the arm launching mechanism,unmanned platform and tracking system is studied.Secondly,through the simulation of 80?120°/s joint space,Cartesian trajectory and joint moment,it can be seen that the joint velocity can reach the design requirements.In addition,the joint kinematic curve obtained by quintic polynomial interpolation in joint space is smoother than that obtained by cubic polynomial interpolation,the velocity and angular velocity of the end actuator change more evenly and smoothly with time,quintic polynomial interpolation is more ideal than cubic polynomial interpolation,trapezoid velocity interpolation in Cartesian coordinate system,and the operation of the end of the launching arm in Cartesian space There is no mutation in the moving track.Through Monte Carlo method and robotics toolbox,the workspace is simulated and compared,and the workspace design requirements of the gyration joint-180°?180?and the two pitching joints-60°?60° and-15°?70°are also satisfied.Finally,the whole servo system control of the light weapons pointing to the unmanned platform is carried out The controller is designed briefly and the motion simulation of step and sine signals is carried out to verify the reliability of the whole servo systemThrough the kinematic analysis and Simulation of the arm launching mechanism,this paper provides a way for the follow-up research of unmanned light weapons.