Design And Analysis Of An Automatic Loading Manipulator

Since the beginning of the 21 st century,the gambling between major powers has intensified and gradually has developed into a long-term trend.The military of major countries in the world has comprehensively promoted the use of equipment in the direction of automation,and a variety of automation equipment has been gradually applied to actual combat exercises.As a conventional weapon,medium and large caliber artillery has increasingly prominent problems with loading work,so the automatic loading system is the way forward for the development of medium-and large-caliber artillery loading.As a key part of the automatic loading system,the loading manipulator has great research significance and immeasurable research value.Firstly,the important design parameters of the manipulator are determined according to the specific working conditions.On this basis,the loading manipulator is modeled in three dimensions,and the significance of each structure is clarified.On the basis of the preliminary establishment of the three-dimensional model,this paper calculates the torque of each joint of the manipulator in the extreme horizontal position,so as to complete the selection of the motor model of each joint of the manipulator.And the finite element analysis of the most dangerous position of the loading manipulator is carried out to verify the stiffness and strength of the manipulator structure.The paper also makes clear the initial position of the loading manipulator,the position of taking ammunition,the position of taking medicine and the final position.On this basis,the work flow is arranged in detail,so as to complete the design of the loading manipulator.Secondly,the mathematical knowledge that may be used in the kinematic and dynamic analysis of loading manipulators is introduced.The positive kinematic equation of the loading manipulator is derived through the connecting rod transformation matrix,so as to obtain the pose matrix of the loading manipulator end effector.The forward and reverse kinematics of the loading manipulator are analyzed,and the forward and reverse kinematics expression of the manipulator is obtained.In Matlab,the Monte Carlo algorithm was used to solve the workspace of the loading manipulator,which verified the feasibility of the design.Thirdly,the Lagrange functional equilibrium method is used to establish the dynamic mathematical model of the loading manipulator,and then the dynamic simulation model of the loading manipulator is established.Through simulation,the curves of the interaction force and torque of the joints of the manipulator are obtained with time,so as to complete the verification of the selected motor.Finally,the immunization algorithm is improved.Based on the improved immune algorithm combined with the seventh-order polynomial interpolation calculation method,the running trajectory of the loading manipulator is optimized.Through simulation experiments,the curves of the joint displacement,velocity and acceleration of the loading manipulator with time and the running trajectory in three-dimensional space are obtained,so as to achieve the gentle acceleration change and make it reach the optimal time.