Design And Structural Optimization Analysis Of The Launch Box Flexible Loading Device

For the problems of manual support,time consumption and low safety for launch container loading in field-artillery rocket,and for the requirement of rocket weapon automation,this paper proposes a new type of loading device — — the compliant-loading device,and the structural parameters of the key components are analyzed and optimized to obtain better compliant-loading performance.The main research works are as follows:A compliant-reloading device is devised,the loading steps and the working principle of compliant-loading device are introduced.The feasibility of the device is preliminarily verified through the degree of freedom analysis and error analysis.And the performance requirements of the new end-effector——swing-compliant hook are further proposed.Then,the theoretical models describing the performances of the swing-compliant hook are established based on the node displacement method,and the static displacement,static stress and swing curve of the swing-compliant hook are analyzed by MATLAB,which verifies the rationality of the model.Secondly,the main structure parameters on the performance of the swing-compliant hook are obtained by experimental design method.Additionally,a response surface model that characterizes the comprehensive performance of swing-compliant hook is established.Finally,the optimization result shows that when the length and the installation height of compliant mechanism are 90 mm and 23 mm,the end height of lifting hook is 110 mm,the swing-compliant hook has excellent performance in the docking,lifting,transferring and locating.Furthermore,the swing-compliant hook is redesigned with the optimized structural parameters,and the compromise programming method is used to define the multi-objective topology optimization function of static stiffness and dynamic vibration frequency.Through the optimization of Opti Struct,a topology that simultaneously meets the requirements of stiffness in no-load,flexibility in load and low-order vibration frequency of the compliant mechanism is obtained.Finally,based on the optimized swing-compliant hook,the key steps of loading for launch container with the compliant-loading device are simulated and analyzed,and the effectiveness of the compliant-loading device is verified.