舰炮含钳爪回转机构的伸爪运动特性研究

doi:10.3969/j.issn.1000-1093.2020.05.006

摘要/Abstract

摘要： 针对舰炮含钳爪回转机构运动问题，为获得机构的运动特性，通过模型简化、理论公式推导和算例分析，进行了间歇式含钳爪回转机构伸爪运动的理论与计算研究。以含钳爪回转机构为对象得到机构运动的简化杆件模型，根据伸爪运动过程中的杆件构型变化、多坐标系的转换关系和封闭矢量法进行了机构伸爪的运动学分析；通过机构伸爪受力分析、利用达朗贝尔原理和拉格朗日方程建立了机构伸爪的动力学方程；基于机构的几何参数与驱动参数，进行数学仿真软件MATLAB算例分析和多体动力学仿真软件ADAMS虚拟样机仿真实验，并对比运动分析的理论变化曲线和仿真变化曲线。结果表明：理论曲线与仿真曲线的变化情况基本一致，构型变化会影响机构的动力学特性，转角加速度在构型变化处存在突变现象，偏心销的存在会导致运动轨迹波动，但对定位误差影响较小；此外，偏心销能在减小加速度突变的同时会引起加速度振荡。

关键词: 舰炮, 回转机构, 机械爪, 转弹机构, 运动特性

Abstract: In order to obtain the movement characteristics of rotary mechanism with grippers, the motion theory of extendable gripper of rotary mechanism is studied by simplifying the model, deducing the theoretical formula and analyzing the example. A simplified lever model of mechanism movement is obtained for rotary mechanism with grippers, and the kinematics of rotary mechanism is analyzed according to the change of lever configuration during the movement of extentable gripper, the transformation of multiple coordinate systems and closed vector method. A dynamic equation of extentable grippers of rotary mechanism is established by using force analysis, d'Alembert principle and Lagrange equation. A numerical example is analyzed by MATLAB and ADAMS virtual prototype simulation test based on the geometric parameters and driving parameters of rotary mechanism. Results show that the changes of the theoretical and simulated curves are basically consistent, and the configuration change affects the dynamic characteristics of rotary mechanism. The angular acceleration abruptly changes as the configuration changes, and the existence of eccentric pin can cause the motion track fluctuation but has little influence on the positioning error. In addition, the eccentric pin can cause acceleration shock while reducing acceleration mutation.Key

Key words: navalgun, rotarymechanism, gripper, projectilerotarymechanism, motioncharacteristic

中图分类号:

TJ391

彭京徽，王德石，张弘弨. 舰炮含钳爪回转机构的伸爪运动特性研究[J]. 兵工学报, 2020, 41(5): 874-880.

PENG Jinghui, WANG Deshi, ZHANG Hongchao. Research on the Motion Characteristics of Extendable Gripper of Rotary Conveyor Mechanism in Naval Gun[J]. Acta Armamentarii, 2020, 41(5): 874-880.

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兵工学报ACTA ARMAMENTARII
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