Analysis Of Kinematics And Dynamical Properties On Robot Of Feeding System In Naval Gun

As a very important part of gun, the naval gun feeding system plays very important role in transporting the shells accurately and efficiently to the launched position, and so its performance has a direct impact on the potency of the launch system. At present, the domestic technology has large gap compared with foreign, so it is very important to study on a new Naval areillery shells supply. In this paper, by analysising the merits and shortcomings of navy's active-duty large and medium-caliber guns shells supply system from many countries; an flexible transfer manipulator system is put faward to replace conventional bomb transfer system, and to meet large and medium-caliber guns compatible requirements and large scale bomb supply needs.In this paper, the overall shell transfer manipulator solution and the mechanical structure of the manipulator are designed; D-H method is used to analysis the kinematics performance of the manipulator and establish the kinematics model. According to concurrent mechanical design theory , the system structure requirements and step-working principle, the running time of the step is set in advance., and the succession of the system is designed. According to results from the succession analysis, a robot plane operations trajectory planning method is proposed.Based on the finite element theory, Pro/E and ANSYS simulation software are used to analysis the static characteristic and mode state of the manipulator, and the natural vibrating frequencies and the corresponding modes in the getting bombs process and transferring bomb to bomb-holding part of the gun body process are gained. Based on the vibrating character of the manipulator, measurements are proposed to avoid system resonance...