Research On Missile Grabbing Device Based On Rigid-Flex Conversion And Floating Alignment

In the military field,the role of missile launcher is becoming more and more important,and the proportion of launcher in the total combat organization also increases sharply.With the continuous optimization of weapons and equipment,the number of operational missiles on launcher is also increasing.As the cooperative combat equipment of the missile loading vehicle,it not only guarantees the continuity of the combat,but also determines the duration of the combat.In order to complete the loading operation in a short time,reduce the factor of human intervention,and still maintain the stability in the complex environment,this paper carries out the research on the grab device applied to the automatic loading,which is of great significance for the launcher to improve the combat efficiency.In this paper,the grabbing device is studied on the basis of the automatic loading by taking the outdoor loading as the operating condition.The functional requirements of grasping device are studied and the loading process and the working flow of each mechanism of grasping device are analyzed.Key devices were developed,including series and parallel attitude adjustment mechanism,rigid and flexible conversion mechanism and symmetrical hook lifting mechanism.According to the structure model of the grasping device,the dynamic model of the important mechanism of the missile grasping device is established.In this paper,the dynamic simulation analysis of grasping device is carried out,and the motion simulation of a single mechanism is carried out to verify the motion reachability and stability of each mechanism.The hoisting process of the whole device is simulated,and the pose change of the whole device caused by the barrel projectile with different attitude is analyzed.In order to align the cartridge with the mounting pin of the loading vehicle,the simulation of alignment accuracy is carried out.Based on the simulation results,the control method of grasping device is established,including three-degree mechanism control and lifting mechanism control in series and parallel connection.